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diff --git a/place_a2b_left/episode_0000025/TCP_head/metadata.json b/place_a2b_left/episode_0000025/TCP_head/metadata.json
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--- /dev/null
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    174,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/place_a2b_left/episode_0000025/TCP_third/metadata.json b/place_a2b_left/episode_0000025/TCP_third/metadata.json
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--- /dev/null
+++ b/place_a2b_left/episode_0000025/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    174,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/place_a2b_left/episode_0000025/metadata.json b/place_a2b_left/episode_0000025/metadata.json
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_a2b_left",
+  "episode": "episode_0000025",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_a2b_left/aloha_agilex/data/episode_0000025.hdf5",
+  "num_frames": 174,
+  "image_height": 240,
+  "image_width": 320,
+  "views": {
+    "left_view": "cam_left_wrist",
+    "right_view": "cam_right_wrist",
+    "head_view": "cam_head",
+    "third_views": "cam_third_view"
+  },
+  "rgb": {
+    "format": "PNG",
+    "dtype": "uint8",
+    "channel_order": "RGB"
+  },
+  "depth": {
+    "format": "PNG",
+    "dtype": "uint16",
+    "unit": "millimeter",
+    "invalid_value": 0
+  },
+  "intrinsics": {
+    "shape": [
+      3,
+      3
+    ],
+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
+  "extrinsics": {
+    "shape": [
+      174,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      174,
+      14
+    ],
+    "action_shape": [
+      174,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "With the left arm, set the bell with metallic top and plastic base on the left of the multi-camera black phone.",
+    "Using the left arm, set the simple hand bell with black stand to the left of the smooth black phone.",
+    "Set the white dome bell on the left side of the smooth black phone.",
+    "With the left arm, move the simple hand bell with black stand to the left side of the black shiny rectangle phone.",
+    "Move the small desk bell for tapping to the left of the thin metallic phone.",
+    "Use the left arm to move the bell shaped like half-circle dome to the left of the multi-camera black phone.",
+    "Position the bell shaped like half-circle dome carefully to the left of the phone with glass front and back.",
+    "Drop the simple hand bell with black stand to the left of the rectangular glossy black phone",
+    "Move the small desk bell for tapping to the left of the metal and glass black phone.",
+    "Use the left arm to put the rounded bell with flat black part left of the black phone",
+    "Place the bell with black flat base directly to the left of the phone with glass front and back.",
+    "Position the white bell with black bottom to the left of the sleek black phone",
+    "With the left arm, stick the rounded bell with flat black part left of the compact rectangular phone",
+    "Grab the bell with black flat base using the left arm and move left of the thin metallic phone",
+    "Grab the compact tabletop bell using the left arm and place left of the thin metallic phone.",
+    "Grab the white and black colored bell using the left arm and place it left of the glass-front black phone.",
+    "Set the white and black colored bell carefully on the left of the rectangular glossy black phone",
+    "With the left arm, position the plastic and metal bell left of the multi-camera black phone",
+    "Set the compact tabletop bell to the left of the glass-front black phone",
+    "Use the left arm, move the bell with metallic top and plastic base left of the metal and glass black phone",
+    "Grab the compact tabletop bell with the left arm and set left of the compact rectangular phone",
+    "Put the white and black colored bell on the left side of the sleek black phone",
+    "Use the left arm to position the white bell with black bottom left of the thin metallic phone",
+    "Stick the plastic and metal bell on the left of the compact rectangular phone",
+    "Using the left arm, move the white and black colored bell left of the sleek black phone.",
+    "Place the bell with metallic top and plastic base on the left of the thin phone with smooth texture.",
+    "With the left arm, place the simple hand bell with black stand left of the sleek black phone",
+    "Shift the simple hand bell with black stand and position it left of the thin phone with smooth texture.",
+    "Use the left arm to move the bell with black flat base to the glass-front black phone's left",
+    "Place the rounded bell with flat black part left of the sleek black phone using the left arm",
+    "With the left arm, position the plastic and metal bell left of the compact rectangular phone.",
+    "Drop the white dome bell on the left side of the metal and glass black phone",
+    "Put the white dome bell to the left of the rectangular glossy black phone",
+    "Place the bell with black flat base exactly to the left of the compact rectangular phone",
+    "Set the bell shaped like half-circle dome left of the glass-front black phone.",
+    "Position the white bell to the left of the metal and glass black phone.",
+    "Grab the compact tabletop bell with the left arm and shift it left of the glass-front black phone.",
+    "Place the compact tabletop bell to rest left of the compact rectangular phone using the left arm",
+    "Place the bell with black flat base carefully to the black shiny rectangle phone's left",
+    "Move the rounded bell with flat black part to the left side of the black shiny rectangle phone",
+    "Carefully position the white dome bell to the left of the smooth black phone.",
+    "Set the white and black colored bell directly to the left of the glass-front black phone",
+    "Using the left arm, put the plastic and metal bell on left of the black phone",
+    "Shift the white and black colored bell leftward to the side of the black phone",
+    "Move the simple hand bell with black stand to the left of the phone with glass front and back",
+    "Use the left arm to set the simple hand bell with black stand left of the metal and glass black phone",
+    "Adjust the rounded bell with flat black part to rest on the compact rectangular phone's left",
+    "Place the bell shaped like half-circle dome left of the compact rectangular phone using the left arm",
+    "Use the left arm and place the small desk bell for tapping left of the glass-front black phone.",
+    "Using the left arm, place the compact tabletop bell on the left of the sleek black phone",
+    "With the left arm, set the plastic and metal bell on the left of the black phone.",
+    "Using the left arm, set the compact tabletop bell to the left of the thin metallic phone.",
+    "Set the bell with black flat base on the left side of the phone with glass front and back.",
+    "With the left arm, move the rounded bell with flat black part to the left side of the rectangular glossy black phone.",
+    "Move the white bell to the left of the rectangular glossy black phone.",
+    "Use the left arm to move the white bell with black bottom to the left of the thin metallic phone.",
+    "Position the small desk bell for tapping carefully to the left of the glass-front black phone.",
+    "Drop the bell with metallic top and plastic base to the left of the glass-front black phone",
+    "Move the compact tabletop bell to the left of the smooth black phone.",
+    "Use the left arm to put the white bell left of the black shiny rectangle phone",
+    "Place the white and black colored bell directly to the left of the thin phone with smooth texture.",
+    "Position the bell shaped like half-circle dome to the left of the smooth black phone",
+    "With the left arm, stick the white bell with black bottom left of the phone with glass front and back",
+    "Grab the compact tabletop bell using the left arm and move left of the smooth black phone",
+    "Grab the white dome bell using the left arm and place left of the thin phone with smooth texture.",
+    "Grab the bell shaped like half-circle dome using the left arm and place it left of the thin phone with smooth texture.",
+    "Set the white bell carefully on the left of the sleek black phone",
+    "With the left arm, position the rounded bell with flat black part left of the thin metallic phone",
+    "Set the bell with black flat base to the left of the phone with glass front and back",
+    "Use the left arm, move the white dome bell left of the glass-front black phone",
+    "Grab the rounded bell with flat black part with the left arm and set left of the smooth black phone",
+    "Put the simple hand bell with black stand on the left side of the phone with glass front and back",
+    "Use the left arm to position the white bell with black bottom left of the multi-camera black phone",
+    "Stick the rounded bell with flat black part on the left of the phone with glass front and back",
+    "Using the left arm, move the rounded bell with flat black part left of the thin phone with smooth texture.",
+    "Place the compact tabletop bell on the left of the glass-front black phone.",
+    "With the left arm, place the bell with metallic top and plastic base left of the sleek black phone",
+    "Shift the rounded bell with flat black part and position it left of the metal and glass black phone.",
+    "Use the left arm to move the plastic and metal bell to the glass-front black phone's left",
+    "Place the bell shaped like half-circle dome left of the smooth black phone using the left arm",
+    "With the left arm, position the compact tabletop bell left of the black phone.",
+    "Drop the compact tabletop bell on the left side of the black shiny rectangle phone",
+    "Put the white and black colored bell to the left of the sleek black phone",
+    "Place the compact tabletop bell exactly to the left of the compact rectangular phone",
+    "Set the bell shaped like half-circle dome left of the glass-front black phone.",
+    "Position the rounded bell with flat black part to the left of the thin metallic phone.",
+    "Grab the rounded bell with flat black part with the left arm and shift it left of the compact rectangular phone.",
+    "Place the white and black colored bell to rest left of the thin phone with smooth texture using the left arm",
+    "Place the rounded bell with flat black part carefully to the glass-front black phone's left",
+    "Move the white bell to the left side of the thin phone with smooth texture",
+    "Carefully position the rounded bell with flat black part to the left of the metal and glass black phone.",
+    "Set the simple hand bell with black stand directly to the left of the sleek black phone",
+    "Using the left arm, put the simple hand bell with black stand on left of the black phone",
+    "Shift the white and black colored bell leftward to the side of the sleek black phone",
+    "Move the white and black colored bell to the left of the thin metallic phone",
+    "Use the left arm to set the white and black colored bell left of the black phone",
+    "Adjust the white bell with black bottom to rest on the glass-front black phone's left",
+    "Place the bell with metallic top and plastic base left of the phone with glass front and back using the left arm",
+    "Use the left arm and place the white bell left of the glass-front black phone.",
+    "Using the left arm, place the white bell with black bottom on the left of the rectangular glossy black phone"
+  ]
+}
diff --git a/place_a2b_left/episode_0000030/TCP_head/metadata.json b/place_a2b_left/episode_0000030/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb31adcbf495c4cec72f8a2acf627e421eded042
--- /dev/null
+++ b/place_a2b_left/episode_0000030/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    161,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/place_a2b_left/episode_0000030/metadata.json b/place_a2b_left/episode_0000030/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..62152243c3d7c8ba9d4103c61db620d33b1299b8
--- /dev/null
+++ b/place_a2b_left/episode_0000030/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_a2b_left",
+  "episode": "episode_0000030",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_a2b_left/aloha_agilex/data/episode_0000030.hdf5",
+  "num_frames": 161,
+  "image_height": 240,
+  "image_width": 320,
+  "views": {
+    "left_view": "cam_left_wrist",
+    "right_view": "cam_right_wrist",
+    "head_view": "cam_head",
+    "third_views": "cam_third_view"
+  },
+  "rgb": {
+    "format": "PNG",
+    "dtype": "uint8",
+    "channel_order": "RGB"
+  },
+  "depth": {
+    "format": "PNG",
+    "dtype": "uint16",
+    "unit": "millimeter",
+    "invalid_value": 0
+  },
+  "intrinsics": {
+    "shape": [
+      3,
+      3
+    ],
+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
+  "extrinsics": {
+    "shape": [
+      161,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      161,
+      14
+    ],
+    "action_shape": [
+      161,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Using the left arm, set the compact black stapler to the left of the lightweight phone.",
+    "Carefully position the stapler with silver inner plates to the left of the palm-sized black and white phone.",
+    "Place the black stapler with shiny interior left of the compact phone using the left arm",
+    "With the left arm, move the black stapler with smooth finish to the left side of the phone with touchscreen.",
+    "Move the stapler with silver inner plates to the left side of the black and white phone",
+    "Move the black stapler with smooth finish to the left of the phone with touchscreen.",
+    "Shift the black stapler with curved top leftward to the side of the glass-faced phone",
+    "Put the small black stapler with metal core to the left of the phone with touchscreen",
+    "Grab the black stapler with smooth finish using the left arm and place it left of the phone with touchscreen.",
+    "Using the left arm, put the handheld black stapler on left of the black and white phone",
+    "Adjust the black stapler with shiny interior to rest on the flat phone's left",
+    "Use the left arm to move the stapler with silver staple tray to the left of the black and white phone.",
+    "Set the stapler with silver staple tray left of the compact phone.",
+    "Use the left arm to move the black smooth-textured stapler to the sleek rectangular phone's left",
+    "With the left arm, position the black stapler with shiny interior left of the phone with touchscreen",
+    "Move the compact black stapler to the left of the phone with touchscreen",
+    "Position the curved black stapler carefully to the left of the flat phone.",
+    "Place the curved black stapler on the left of the black and white phone.",
+    "Place the black stapler for joining pages to rest left of the smooth-screen phone using the left arm",
+    "With the left arm, place the black stapler with smooth finish left of the compact phone",
+    "Grab the black stapler with curved top using the left arm and place left of the compact phone.",
+    "Set the stapler with silver staple tray on the left side of the sleek rectangular phone.",
+    "Put the black smooth-textured stapler on the left side of the glass-faced phone",
+    "Set the black smooth-textured stapler directly to the left of the phone with touchscreen",
+    "Grab the compact black stapler using the left arm and move left of the lightweight phone",
+    "Use the left arm to set the black stapler with rectangular base left of the compact phone",
+    "Place the black smooth-textured stapler carefully to the palm-sized black and white phone's left",
+    "Shift the handheld black stapler and position it left of the phone with buttons and screen.",
+    "Use the left arm, move the black stapler with curved top left of the black and white phone",
+    "With the left arm, position the black stapler with rectangular base left of the phone with digital display.",
+    "Set the black smooth-textured stapler carefully on the left of the phone for calls and apps",
+    "With the left arm, stick the curved black stapler left of the flat phone",
+    "Using the left arm, place the black stapler with smooth finish on the left of the compact phone",
+    "Stick the black stapler for joining pages on the left of the palm-sized black and white phone",
+    "Drop the black stapler with smooth finish to the left of the smooth-screen phone",
+    "With the left arm, set the black stapler with rectangular base on the left of the phone with touchscreen.",
+    "Use the left arm to put the stapler with silver staple tray left of the glass-faced phone",
+    "Using the left arm, move the stapler with silver staple tray left of the glass-faced phone.",
+    "Position the black stapler with rectangular base to the left of the sleek rectangular phone.",
+    "Position the black stapler with smooth finish to the left of the phone with buttons and screen",
+    "Place the small black stapler with metal core directly to the left of the compact phone.",
+    "Move the curved black stapler to the left of the palm-sized black and white phone.",
+    "Place the black stapler for joining pages left of the phone with buttons and screen using the left arm",
+    "Grab the black smooth-textured stapler with the left arm and set left of the black and white phone",
+    "Grab the curved black stapler with the left arm and shift it left of the lightweight phone.",
+    "Set the black stapler with rectangular base to the left of the black and white phone",
+    "Use the left arm and place the handheld black stapler left of the phone with digital display.",
+    "Place the black stapler with smooth finish exactly to the left of the phone with digital display",
+    "Use the left arm to position the black stapler for joining pages left of the glass-faced phone",
+    "Drop the stapler with silver staple tray on the left side of the phone with buttons and screen",
+    "Using the left arm, set the stapler with silver inner plates to the left of the black and white phone.",
+    "Carefully position the black stapler with shiny interior to the left of the sleek rectangular phone.",
+    "Place the black smooth-textured stapler left of the phone with buttons and screen using the left arm",
+    "With the left arm, move the stapler with silver inner plates to the left side of the lightweight phone.",
+    "Move the black stapler with shiny interior to the left side of the palm-sized black and white phone",
+    "Move the black stapler with curved top to the left of the flat phone.",
+    "Shift the black smooth-textured stapler leftward to the side of the smooth-screen phone",
+    "Put the stapler with silver inner plates to the left of the flat phone",
+    "Grab the black stapler with curved top using the left arm and place it left of the phone with touchscreen.",
+    "Using the left arm, put the stapler with silver staple tray on left of the flat phone",
+    "Adjust the black stapler with shiny interior to rest on the phone for calls and apps's left",
+    "Use the left arm to move the small black stapler with metal core to the left of the sleek rectangular phone.",
+    "Set the black stapler for joining pages left of the flat phone.",
+    "Use the left arm to move the curved black stapler to the phone for calls and apps's left",
+    "With the left arm, position the small black stapler with metal core left of the black and white phone",
+    "Move the black stapler for joining pages to the left of the palm-sized black and white phone",
+    "Position the black stapler with curved top carefully to the left of the compact phone.",
+    "Place the black stapler for joining pages on the left of the black and white phone.",
+    "Place the compact black stapler to rest left of the phone with buttons and screen using the left arm",
+    "With the left arm, place the black stapler with curved top left of the phone for calls and apps",
+    "Grab the curved black stapler using the left arm and place left of the palm-sized black and white phone.",
+    "Set the small black stapler with metal core on the left side of the phone with buttons and screen.",
+    "Put the black stapler with smooth finish on the left side of the phone with touchscreen",
+    "Set the black stapler for joining pages directly to the left of the sleek rectangular phone",
+    "Grab the black stapler with rectangular base using the left arm and move left of the phone with digital display",
+    "Use the left arm to set the black smooth-textured stapler left of the smooth-screen phone",
+    "Place the handheld black stapler carefully to the compact phone's left",
+    "Shift the black stapler with smooth finish and position it left of the lightweight phone.",
+    "Use the left arm, move the black stapler for joining pages left of the phone for calls and apps",
+    "With the left arm, position the black stapler with shiny interior left of the phone with buttons and screen.",
+    "Set the stapler with silver staple tray carefully on the left of the phone with touchscreen",
+    "With the left arm, stick the compact black stapler left of the compact phone",
+    "Using the left arm, place the black stapler with rectangular base on the left of the flat phone",
+    "Stick the black smooth-textured stapler on the left of the phone with buttons and screen",
+    "Drop the stapler with silver inner plates to the left of the smooth-screen phone",
+    "With the left arm, set the stapler with silver staple tray on the left of the phone with touchscreen.",
+    "Use the left arm to put the stapler with silver inner plates left of the compact phone",
+    "Using the left arm, move the stapler with silver inner plates left of the black and white phone.",
+    "Position the black stapler with shiny interior to the left of the glass-faced phone.",
+    "Position the stapler with silver staple tray to the left of the smooth-screen phone",
+    "Place the black stapler for joining pages directly to the left of the lightweight phone.",
+    "Move the stapler with silver staple tray to the left of the phone with buttons and screen.",
+    "Place the black stapler with smooth finish left of the compact phone using the left arm",
+    "Grab the handheld black stapler with the left arm and set left of the sleek rectangular phone",
+    "Grab the black stapler with smooth finish with the left arm and shift it left of the palm-sized black and white phone.",
+    "Set the curved black stapler to the left of the phone with buttons and screen",
+    "Use the left arm and place the black stapler with smooth finish left of the smooth-screen phone.",
+    "Place the black smooth-textured stapler exactly to the left of the black and white phone",
+    "Use the left arm to position the small black stapler with metal core left of the glass-faced phone",
+    "Drop the compact black stapler on the left side of the flat phone"
+  ]
+}
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diff --git a/place_cans_plasticbox/episode_0000016/TCP_head/metadata.json b/place_cans_plasticbox/episode_0000016/TCP_head/metadata.json
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+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    333,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/place_cans_plasticbox/episode_0000016/metadata.json b/place_cans_plasticbox/episode_0000016/metadata.json
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_cans_plasticbox",
+  "episode": "episode_0000016",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_cans_plasticbox/aloha_agilex/data/episode_0000016.hdf5",
+  "num_frames": 333,
+  "image_height": 240,
+  "image_width": 320,
+  "views": {
+    "left_view": "cam_left_wrist",
+    "right_view": "cam_right_wrist",
+    "head_view": "cam_head",
+    "third_views": "cam_third_view"
+  },
+  "rgb": {
+    "format": "PNG",
+    "dtype": "uint8",
+    "channel_order": "RGB"
+  },
+  "depth": {
+    "format": "PNG",
+    "dtype": "uint16",
+    "unit": "millimeter",
+    "invalid_value": 0
+  },
+  "intrinsics": {
+    "shape": [
+      3,
+      3
+    ],
+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
+  "extrinsics": {
+    "shape": [
+      333,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      333,
+      14
+    ],
+    "action_shape": [
+      333,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Move the white patterned brown metal can and the small white can with branding into the plasticbox with rounded corners and lid using separate arms.",
+    "Place the small light brown cylindrical can and the can with gold top lid in the plasticbox with smooth plastic texture using both arms.",
+    "Pick the light brown can with smooth texture and the white can simultaneously, then place them inside the smooth blue plasticbox with handle.",
+    "Grab the smooth light brown can and the can with gold top lid together, then transfer them to the boxy light blue plasticbox.",
+    "Grip the drink can with light brown shade and the can with rounded cylindrical shape simultaneously, then insert both into the plasticbox for carrying items.",
+    "Pick the hand-sized metallic can and the can with sealed gold top together, then move both into the light blue plasticbox.",
+    "Place the small light brown cylindrical can and the white can into the smooth blue plasticbox with handle with dual arms",
+    "Transfer the hand-sized metallic can into the boxy light blue plasticbox, then position the red-orange text on white can within the boxy light blue plasticbox.",
+    "Pick the rounded metallic can and the smooth white can with accents together, then put both inside the light blue rectangular storage plasticbox.",
+    "Use both arms to place the hand-sized metallic can and the can with gold top lid inside the plasticbox for keeping items safe.",
+    "Pick the rounded metallic can and the medium metal can together, then drop each into the plasticbox with smooth plastic texture",
+    "Lift the metal can with white decorative designs and the can with gold top lid simultaneously, then set them into the smooth blue plasticbox with handle.",
+    "Using dual arms, place the smooth light brown can and the beverage can with printed label inside the plasticbox with smooth plastic texture",
+    "First grasp the white patterned brown metal can and the white can together, then place both in the durable plasticbox with side handle.",
+    "Lift the brown can and the smooth white can with accents, and stick them into the light blue rectangular storage plasticbox",
+    "Use both arms to place the brown can and the cylindrical white glossy can into the plasticbox with rounded corners and lid.",
+    "Transfer the white patterned brown metal can and the white can with 3D RADY label into the plasticbox with hinged lid using dual arms",
+    "Transfer the drink can with light brown shade to the durable plasticbox with side handle, then transfer the small white can with branding to the durable plasticbox with side handle.",
+    "Move the drink can with light brown shade to the plasticbox for keeping items safe and repeat with the white can with 3D RADY label.",
+    "Drop the metal can with white decorative designs and the can with sealed gold top into the plasticbox with hinged lid with both arms",
+    "Use both arms to grab the smooth brown can with rounded edges and the medium metal can, place them in the plasticbox for carrying items.",
+    "Pick the light brown can with smooth texture and the can with gold top lid using both arms and put them in the plasticbox with rounded corners and lid",
+    "Use both arms, position the brown can and the medium metal can within the light blue rectangular storage plasticbox.",
+    "Place the rounded metallic can into the light blue plasticbox, then place the beverage can with printed label into the light blue plasticbox.",
+    "Use both arms to pick the white patterned brown metal can and the can with sealed gold top together for the plasticbox with rounded corners and lid.",
+    "With both arms, transfer the hand-sized metallic can and the can with sealed gold top into the blue plasticbox for storing things.",
+    "Both arms lift the rounded metallic can and the red-orange text on white can, then place them in the smooth blue plasticbox with handle.",
+    "Use both arms to move the metal can with white decorative designs and the white can into the light blue plasticbox.",
+    "First move the small light brown cylindrical can to the boxy light blue plasticbox, then move the can with rounded cylindrical shape into the boxy light blue plasticbox.",
+    "Pick and drop the hand-sized metallic can and the can with rounded cylindrical shape into the rectangular plasticbox with rounded edges.",
+    "Grasp the smooth light brown can and the can with red-orange text together; transfer the smooth light brown can, then the can with red-orange text, to the smooth blue plasticbox with handle.",
+    "Lift the metal can with white decorative designs and the red-orange text on white can together, then place each in the durable plasticbox with side handle.",
+    "Use both arms to move the white patterned brown metal can and the can with sealed gold top into the plasticbox for keeping items safe",
+    "Utilize the arms to deposit both the smooth brown can with rounded edges and the cylindrical white glossy can into the light blue plasticbox.",
+    "Use the arms to transfer the smooth light brown can and the smooth white can with accents into the rectangular plasticbox with rounded edges.",
+    "Lift the brown can and the can with gold top lid, then set them inside the durable plasticbox with side handle",
+    "Pick up the hand-sized metallic can and the white can with 3D RADY label with separate arms, then fill the boxy light blue plasticbox.",
+    "Pick the rounded metallic can and the can with sealed gold top together; place the rounded metallic can, then the can with sealed gold top, in the light blue plasticbox.",
+    "Lift the small light brown cylindrical can and the cylindrical white glossy can together, then place both in the boxy light blue plasticbox.",
+    "Grab the white patterned brown metal can and the can with rounded cylindrical shape together, then insert each into the light blue rectangular storage plasticbox.",
+    "Pick the metal can with white decorative designs and the red-orange text on white can together, then move each into the plasticbox for keeping items safe",
+    "Use your arms to set the small cylindrical drink container and the can with gold top lid gently into the plasticbox for carrying items.",
+    "Place the small light brown cylindrical can in the light blue plasticbox, follow with the white can using each arm.",
+    "Use dual arms to pick the metal can with printed white graphics and the can with gold top lid, placing both in the durable plasticbox with side handle.",
+    "Begin with the small cylindrical drink container, place it in the smooth blue plasticbox with handle, finish with the can with rounded cylindrical shape into the smooth blue plasticbox with handle.",
+    "Employ both arms to pick the metal can with printed white graphics and the can with rounded cylindrical shape, and place them inside the plasticbox for carrying items.",
+    "Use arms to set the small light brown cylindrical can and the medium metal can into the plasticbox with hinged lid.",
+    "After grasping the small light brown cylindrical can and the beverage can with printed label together, place each into the light blue rectangular storage plasticbox.",
+    "Place the smooth brown can with rounded edges and the cylindrical white glossy can into the plasticbox with smooth plastic texture using both arms.",
+    "Grasp the white patterned brown metal can and the medium metal can simultaneously, then place both in the plasticbox with hinged lid.",
+    "Move the white patterned brown metal can and the can with rounded cylindrical shape into the plasticbox with smooth plastic texture using separate arms.",
+    "Place the light brown can with smooth texture and the small white can with branding in the durable plasticbox with side handle using both arms.",
+    "Pick the small light brown cylindrical can and the white can with 3D RADY label simultaneously, then place them inside the smooth blue plasticbox with handle.",
+    "Grab the hand-sized metallic can and the beverage can with printed label together, then transfer them to the boxy light blue plasticbox.",
+    "Grip the small cylindrical drink container and the white can with 3D RADY label simultaneously, then insert both into the smooth blue plasticbox with handle.",
+    "Pick the drink can with light brown shade and the can with red-orange text together, then move both into the durable plasticbox with side handle.",
+    "Place the small cylindrical drink container and the can with sealed gold top into the blue plasticbox for storing things with dual arms",
+    "Transfer the rounded metallic can into the rectangular plasticbox with rounded edges, then position the medium metal can within the rectangular plasticbox with rounded edges.",
+    "Pick the small cylindrical drink container and the beverage can with printed label together, then put both inside the smooth blue plasticbox with handle.",
+    "Use both arms to place the rounded metallic can and the medium metal can inside the durable plasticbox with side handle.",
+    "Pick the smooth brown can with rounded edges and the white can together, then drop each into the smooth blue plasticbox with handle",
+    "Lift the smooth brown can with rounded edges and the red-orange text on white can simultaneously, then set them into the durable plasticbox with side handle.",
+    "Using dual arms, place the metal can with printed white graphics and the can with sealed gold top inside the durable plasticbox with side handle",
+    "First grasp the metal can with white decorative designs and the cylindrical white glossy can together, then place both in the plasticbox for carrying items.",
+    "Lift the hand-sized metallic can and the beverage can with printed label, and stick them into the durable plasticbox with side handle",
+    "Use both arms to place the rounded metallic can and the red-orange text on white can into the smooth blue plasticbox with handle.",
+    "Transfer the hand-sized metallic can and the can with sealed gold top into the plasticbox for keeping items safe using dual arms",
+    "Transfer the smooth brown can with rounded edges to the rectangular plasticbox with rounded edges, then transfer the small white can with branding to the rectangular plasticbox with rounded edges.",
+    "Move the metal can with white decorative designs to the plasticbox with rounded corners and lid and repeat with the red-orange text on white can.",
+    "Drop the white patterned brown metal can and the can with gold top lid into the plasticbox with smooth plastic texture with both arms",
+    "Use both arms to grab the white patterned brown metal can and the white can with 3D RADY label, place them in the plasticbox with hinged lid.",
+    "Pick the hand-sized metallic can and the medium metal can using both arms and put them in the rectangular plasticbox with rounded edges",
+    "Use both arms, position the rounded metallic can and the can with sealed gold top within the plasticbox for keeping items safe.",
+    "Place the light brown can with smooth texture into the smooth blue plasticbox with handle, then place the white can into the smooth blue plasticbox with handle.",
+    "Use both arms to pick the rounded metallic can and the white can together for the plasticbox for carrying items.",
+    "With both arms, transfer the rounded metallic can and the can with gold top lid into the blue plasticbox for storing things.",
+    "Both arms lift the small light brown cylindrical can and the can with sealed gold top, then place them in the light blue plasticbox.",
+    "Use both arms to move the drink can with light brown shade and the cylindrical white glossy can into the durable plasticbox with side handle.",
+    "First move the brown can to the plasticbox for keeping items safe, then move the smooth white can with accents into the plasticbox for keeping items safe.",
+    "Pick and drop the light brown can with smooth texture and the can with rounded cylindrical shape into the light blue rectangular storage plasticbox.",
+    "Grasp the metal can with printed white graphics and the can with rounded cylindrical shape together; transfer the metal can with printed white graphics, then the can with rounded cylindrical shape, to the plasticbox with rounded corners and lid.",
+    "Lift the smooth brown can with rounded edges and the red-orange text on white can together, then place each in the durable plasticbox with side handle.",
+    "Use both arms to move the brown can and the can with gold top lid into the light blue plasticbox",
+    "Utilize the arms to deposit both the metal can with printed white graphics and the can with sealed gold top into the durable plasticbox with side handle.",
+    "Use the arms to transfer the hand-sized metallic can and the can with gold top lid into the boxy light blue plasticbox.",
+    "Lift the drink can with light brown shade and the can with red-orange text, then set them inside the light blue rectangular storage plasticbox",
+    "Pick up the small cylindrical drink container and the can with sealed gold top with separate arms, then fill the blue plasticbox for storing things.",
+    "Pick the metal can with printed white graphics and the can with red-orange text together; place the metal can with printed white graphics, then the can with red-orange text, in the plasticbox for keeping items safe.",
+    "Lift the rounded metallic can and the can with rounded cylindrical shape together, then place both in the rectangular plasticbox with rounded edges.",
+    "Grab the small light brown cylindrical can and the white can together, then insert each into the light blue plasticbox.",
+    "Pick the metal can with printed white graphics and the medium metal can together, then move each into the light blue rectangular storage plasticbox",
+    "Use your arms to set the metal can with printed white graphics and the beverage can with printed label gently into the plasticbox for keeping items safe.",
+    "Place the metal can with white decorative designs in the plasticbox for keeping items safe, follow with the smooth white can with accents using each arm.",
+    "Use dual arms to pick the drink can with light brown shade and the beverage can with printed label, placing both in the rectangular plasticbox with rounded edges.",
+    "Begin with the small cylindrical drink container, place it in the plasticbox with smooth plastic texture, finish with the small white can with branding into the plasticbox with smooth plastic texture.",
+    "Employ both arms to pick the rounded metallic can and the smooth white can with accents, and place them inside the light blue plasticbox.",
+    "Use arms to set the white patterned brown metal can and the can with sealed gold top into the rectangular plasticbox with rounded edges.",
+    "After grasping the small cylindrical drink container and the can with gold top lid together, place each into the blue plasticbox for storing things.",
+    "Place the smooth light brown can and the white can into the plasticbox for carrying items using both arms.",
+    "Grasp the metal can with white decorative designs and the can with gold top lid simultaneously, then place both in the light blue rectangular storage plasticbox."
+  ]
+}
diff --git a/place_empty_cup/episode_0000024/TCP_head/metadata.json b/place_empty_cup/episode_0000024/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c329de5b940a36a641fcdb46093aa75f2a71c99
--- /dev/null
+++ b/place_empty_cup/episode_0000024/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    179,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/place_empty_cup/episode_0000024/metadata.json b/place_empty_cup/episode_0000024/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9cfe23cd59756b4c6cd26be32e1f65a8dd6084b
--- /dev/null
+++ b/place_empty_cup/episode_0000024/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_empty_cup",
+  "episode": "episode_0000024",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_empty_cup/aloha_agilex/data/episode_0000024.hdf5",
+  "num_frames": 179,
+  "image_height": 240,
+  "image_width": 320,
+  "views": {
+    "left_view": "cam_left_wrist",
+    "right_view": "cam_right_wrist",
+    "head_view": "cam_head",
+    "third_views": "cam_third_view"
+  },
+  "rgb": {
+    "format": "PNG",
+    "dtype": "uint8",
+    "channel_order": "RGB"
+  },
+  "depth": {
+    "format": "PNG",
+    "dtype": "uint16",
+    "unit": "millimeter",
+    "invalid_value": 0
+  },
+  "intrinsics": {
+    "shape": [
+      3,
+      3
+    ],
+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
+  "extrinsics": {
+    "shape": [
+      179,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      179,
+      14
+    ],
+    "action_shape": [
+      179,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Use the arm to position the smooth blue drinking cup onto the small coaster with grain texture.",
+    "Lift the light blue plastic cup and stick it onto the light gray round grainy coaster.",
+    "Drop the smooth blue cup for liquids firmly on the light gray streaked wooden coaster using arm",
+    "Pick the medium blue cylindrical cup up and drop it on the wooden coaster.",
+    "Use arm to place the medium blue cylindrical cup on the wooden coaster",
+    "Slide the plastic cup for drinks gently onto the light gray round grainy coaster via the arm.",
+    "Using the arm, slide the smooth blue drinking cup onto the grainy texture coaster.",
+    "Set the light blue plastic cup carefully onto the round coaster",
+    "Using the arm, drop the smooth blue cup for liquids onto the smooth round palm-sized coaster.",
+    "Use the arm to position the blue rounded-bottom cup on the flat surface gray wooden coaster.",
+    "Use the arm to set the cup with smooth plastic surface on the round coaster",
+    "Set the cylindrical light blue cup on the coaster with circular shape using the arm.",
+    "Grab the blue rounded-bottom cup and place it over the flat round wooden coaster.",
+    "Make sure the medium blue cylindrical cup ends up on the flat round wooden coaster.",
+    "Grab the smooth blue cup for liquids and lower it onto the round coaster with light streaks",
+    "Move the cup for holding liquids onto the wooden coaster with the arm",
+    "Set the medium blue cylindrical cup securely on the round coaster with light streaks using the arm.",
+    "Lift the blue rounded-bottom cup up and drop it on the grainy texture coaster.",
+    "Move the medium-sized plastic blue cup to the grainy texture coaster",
+    "Move the blue rounded-bottom cup using the arm onto the small coaster with grain texture.",
+    "Grab the plastic cup for drinks and place it on the coaster made of smooth wood.",
+    "Set the light blue plastic cup onto the wooden coaster using the arm.",
+    "Stick the cup with smooth plastic surface onto the round coaster using the arm.",
+    "Use the arm to put the cup with light blue color onto the small coaster with grain texture.",
+    "Move the blue rounded-bottom cup to the round coaster and set it down.",
+    "Move the smooth blue drinking cup to the round coaster using the arm.",
+    "Use an arm to place the medium-sized plastic blue cup on the smooth round palm-sized coaster",
+    "Using the arm, align the light blue plastic cup over the light gray round grainy coaster",
+    "Position the blue rounded-bottom cup above and drop it on the grainy texture coaster",
+    "Drop the light blue plastic cup on top of the flat surface gray wooden coaster.",
+    "Position the plastic cup for drinks on the flat round wooden coaster with the arm.",
+    "Stick the medium blue cylindrical cup onto the grainy texture coaster carefully.",
+    "Stick the cup with smooth plastic surface onto the wooden coaster using the arm",
+    "Slide the rounded base blue cup onto the light gray round grainy coaster with the arm.",
+    "Direct the plastic cup for drinks to the flat round wooden coaster and let it rest.",
+    "Position the medium-sized plastic blue cup squarely on top of the light gray round grainy coaster.",
+    "Place the cup with smooth plastic surface on top of the flat round wooden coaster",
+    "Lift the medium-sized plastic blue cup and place it over the coaster with circular shape",
+    "Set the medium-sized plastic blue cup down on the light gray streaked wooden coaster",
+    "Use an arm to drop the smooth blue drinking cup on the small coaster with grain texture",
+    "Carefully place the light blue plastic cup onto the small coaster with grain texture without arm",
+    "Position the cylindrical light blue cup carefully on the round coaster",
+    "Use an arm to drop the light blue plastic cup on the flat surface gray wooden coaster.",
+    "Lift the medium-sized plastic blue cup and place it onto the wooden coaster.",
+    "Grab the smooth blue drinking cup, then place it onto the coaster with circular shape.",
+    "Align the smooth blue drinking cup and set it down on the light gray streaked wooden coaster",
+    "Slide the cup for holding liquids onto the smooth round palm-sized coaster",
+    "Relocate the light blue plastic cup precisely onto the light gray streaked wooden coaster with arm",
+    "Use the arm to slide the blue rounded-bottom cup onto the grainy texture coaster.",
+    "Grab the medium-sized plastic blue cup and set it onto the flat round wooden coaster.",
+    "Use the arm to position the medium-sized plastic blue cup onto the round coaster.",
+    "Lift the cylindrical light blue cup and stick it onto the round coaster.",
+    "Drop the blue rounded-bottom cup firmly on the small coaster with grain texture using arm",
+    "Pick the medium-sized plastic blue cup up and drop it on the flat surface gray wooden coaster.",
+    "Use arm to place the smooth blue cup for liquids on the light gray streaked wooden coaster",
+    "Slide the smooth blue drinking cup gently onto the coaster with circular shape via the arm.",
+    "Using the arm, slide the smooth blue cup for liquids onto the round coaster.",
+    "Set the cylindrical light blue cup carefully onto the wooden coaster",
+    "Using the arm, drop the rounded base blue cup onto the light gray round grainy coaster.",
+    "Use the arm to position the plastic cup for drinks on the light gray streaked wooden coaster.",
+    "Use the arm to set the smooth blue cup for liquids on the coaster with circular shape",
+    "Set the cup with smooth plastic surface on the flat round wooden coaster using the arm.",
+    "Grab the smooth blue cup for liquids and place it over the round coaster with light streaks.",
+    "Make sure the medium-sized plastic blue cup ends up on the smooth round palm-sized coaster.",
+    "Grab the cup with smooth plastic surface and lower it onto the light gray round grainy coaster",
+    "Move the medium blue cylindrical cup onto the round coaster with light streaks with the arm",
+    "Set the smooth blue drinking cup securely on the smooth round palm-sized coaster using the arm.",
+    "Lift the smooth blue drinking cup up and drop it on the coaster with circular shape.",
+    "Move the rounded base blue cup to the smooth round palm-sized coaster",
+    "Move the plastic cup for drinks using the arm onto the coaster with circular shape.",
+    "Grab the cup for holding liquids and place it on the small coaster with grain texture.",
+    "Set the smooth blue drinking cup onto the coaster with circular shape using the arm.",
+    "Stick the cup with smooth plastic surface onto the grainy texture coaster using the arm.",
+    "Use the arm to put the cup with smooth plastic surface onto the wooden coaster.",
+    "Move the rounded base blue cup to the small coaster with grain texture and set it down.",
+    "Move the cup with smooth plastic surface to the round coaster with light streaks using the arm.",
+    "Use an arm to place the medium-sized plastic blue cup on the flat round wooden coaster",
+    "Using the arm, align the cup with smooth plastic surface over the light gray round grainy coaster",
+    "Position the cup with smooth plastic surface above and drop it on the wooden coaster",
+    "Drop the cup with light blue color on top of the light gray streaked wooden coaster.",
+    "Position the cup with smooth plastic surface on the wooden coaster with the arm.",
+    "Stick the blue rounded-bottom cup onto the grainy texture coaster carefully.",
+    "Stick the cylindrical light blue cup onto the light gray round grainy coaster using the arm",
+    "Slide the smooth blue drinking cup onto the flat round wooden coaster with the arm.",
+    "Direct the smooth blue drinking cup to the light gray round grainy coaster and let it rest.",
+    "Position the smooth blue cup for liquids squarely on top of the wooden coaster.",
+    "Place the light blue plastic cup on top of the round coaster",
+    "Lift the cylindrical light blue cup and place it over the round coaster",
+    "Set the medium blue cylindrical cup down on the flat round wooden coaster",
+    "Use an arm to drop the cylindrical light blue cup on the small coaster with grain texture",
+    "Carefully place the cylindrical light blue cup onto the flat surface gray wooden coaster without arm",
+    "Position the cup for holding liquids carefully on the round coaster",
+    "Use an arm to drop the light blue plastic cup on the grainy texture coaster.",
+    "Lift the cup with smooth plastic surface and place it onto the round coaster with light streaks.",
+    "Grab the smooth blue cup for liquids, then place it onto the grainy texture coaster.",
+    "Align the cup with smooth plastic surface and set it down on the flat surface gray wooden coaster",
+    "Slide the rounded base blue cup onto the smooth round palm-sized coaster",
+    "Relocate the cup with light blue color precisely onto the grainy texture coaster with arm",
+    "Use the arm to slide the cup for holding liquids onto the coaster made of smooth wood.",
+    "Grab the smooth blue drinking cup and set it onto the coaster with circular shape."
+  ]
+}
diff --git a/place_fan/episode_0000015/TCP_head/metadata.json b/place_fan/episode_0000015/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..704190b55ed23c85417790745ffe3245dfd56777
--- /dev/null
+++ b/place_fan/episode_0000015/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    152,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/place_fan/episode_0000015/TCP_third/metadata.json b/place_fan/episode_0000015/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d74c462b2fa865e83dc337fbd1a0cdf89ce2378
--- /dev/null
+++ b/place_fan/episode_0000015/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    152,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/place_fan/episode_0000015/metadata.json b/place_fan/episode_0000015/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e08d1d7cf9c103760840575cc09c279b42b58cf5
--- /dev/null
+++ b/place_fan/episode_0000015/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_fan",
+  "episode": "episode_0000015",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_fan/aloha_agilex/data/episode_0000015.hdf5",
+  "num_frames": 152,
+  "image_height": 240,
+  "image_width": 320,
+  "views": {
+    "left_view": "cam_left_wrist",
+    "right_view": "cam_right_wrist",
+    "head_view": "cam_head",
+    "third_views": "cam_third_view"
+  },
+  "rgb": {
+    "format": "PNG",
+    "dtype": "uint8",
+    "channel_order": "RGB"
+  },
+  "depth": {
+    "format": "PNG",
+    "dtype": "uint16",
+    "unit": "millimeter",
+    "invalid_value": 0
+  },
+  "intrinsics": {
+    "shape": [
+      3,
+      3
+    ],
+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
+  "extrinsics": {
+    "shape": [
+      152,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      152,
+      14
+    ],
+    "action_shape": [
+      152,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Lift the small fan using the right arm and put it on the Blue mat facing the robot.",
+    "Lift the fan with grid cover with the right arm, place it on the Blue mat, and point it at the robot",
+    "Using the right arm, grab the fan with rectangular base and put it on the Blue mat facing the robot.",
+    "Use the right arm to pick the fan with round blades, set it on the Blue mat, and face it toward the robot.",
+    "Use the right arm to grab the fan with rectangular base, then align it on the Blue mat facing the robot.",
+    "Take the small fan, place it on the Blue mat, ensure it points at the robot",
+    "Lift the fan with round blades, align it toward the robot, and position it on the Blue mat.",
+    "Grab the small fan with the right arm, making sure it faces the robot on the Blue mat.",
+    "Use the right arm to pick up the lightweight plastic adjustable fan and place it on Blue mat.",
+    "Set the fan with round blades on the Blue mat and make sure it faces the robot",
+    "Grab the table fan with white finish and carefully place it on the Blue mat facing toward the robot.",
+    "Use the right arm to grab the lightweight plastic adjustable fan, set it on Blue mat, and make it face the robot.",
+    "Grab the fan with grid cover with the right arm, set it on the Blue mat, and align it to face the robot",
+    "Grab the lightweight plastic adjustable fan and position it on the Blue mat, ensuring it faces the robot.",
+    "Pick the white fan with adjustable arm, align it toward the robot, and drop it on the Blue mat.",
+    "Set the compact plastic fan onto the Blue colored mat, oriented towards the robot.",
+    "Place the smooth compact fan on the Blue mat and confirm it is pointing at the robot",
+    "Place the smooth compact fan on the Blue mat and verify it is facing the robot.",
+    "Pick the round white fan, place it on the Blue mat, and ensure it points toward the robot.",
+    "Lift the fan with rectangular base and put it on the Blue mat so it faces the robot",
+    "Pick the table fan with white finish with the right arm, align it to face the robot, and set it on the Blue mat.",
+    "Using the right arm, grab the round white fan, face it towards the robot, and set it on the Blue mat.",
+    "Put the table fan with white finish on the Blue mat and make sure it faces the robot.",
+    "Grab the round white fan, position it to face the robot, and place it on the Blue mat.",
+    "Using the right arm, grab the white fan with adjustable arm and set it on the Blue mat facing the robot.",
+    "Grab the fan with rectangular base using the right arm and position it on the Blue mat facing the robot.",
+    "Pick up the smooth compact fan and ensure it faces the robot on the Blue mat.",
+    "Lift the white fan with adjustable arm and set it on the Blue mat, ensuring it faces the robot.",
+    "Take the smooth compact fan and place it on the Blue mat, making sure it faces the robot.",
+    "Place the lightweight plastic adjustable fan on the Blue colored mat ensuring it faces the robot.",
+    "Pick the lightweight plastic adjustable fan with the right arm and set it on the Blue mat facing the robot.",
+    "Position the compact plastic fan on the Blue mat so it faces the robot.",
+    "With the right arm, grab the lightweight plastic adjustable fan and position it on the Blue mat facing the robot",
+    "Use the right arm to pick the table fan with white finish, set it on the Blue mat, and direct it toward the robot",
+    "Pick up the white fan and place it on the Blue mat with it facing the robot.",
+    "Place the white fan with adjustable arm on the Blue mat after grabbing it with the right arm and align it toward the robot.",
+    "Pick up the portable white fan and place it on the Blue mat ensuring it faces the robot.",
+    "Lift the white fan with adjustable arm, place it on the Blue mat, and ensure it's facing the robot.",
+    "Set the fan with round blades on the Blue colored mat ensuring it faces the robot.",
+    "Grab the compact plastic fan with the right arm and ensure it's positioned on the Blue mat facing the robot.",
+    "Pick up the round white fan with the right arm, place it on the Blue mat, and turn it toward the robot.",
+    "Pick the lightweight plastic adjustable fan with the right arm, ensure it faces the robot, and put it on the Blue mat.",
+    "Take the round white fan with the right arm, put it on the Blue mat, and make it face the robot",
+    "Grab the table fan with white finish using the right arm and set it on the Blue colored mat, facing the robot.",
+    "With the right arm, grab the fan with round blades, align it to face the robot, and put it on the Blue mat.",
+    "Use the right arm to grab the fan with grid cover, put it on the Blue mat, and face it toward the robot",
+    "Grab the fan with round blades with the right arm, place it on the Blue mat, ensure it faces the robot.",
+    "Grab the fan with grid cover using the right arm and place it on the Blue mat ensuring it faces the robot.",
+    "Place the compact plastic fan on the Blue mat and ensure it faces the robot.",
+    "Place the table fan with white finish on the Blue mat and position it to face the robot.",
+    "Lift the compact plastic fan using the right arm and put it on the Blue mat facing the robot.",
+    "Lift the white fan with adjustable arm with the right arm, place it on the Blue mat, and point it at the robot",
+    "Using the right arm, grab the lightweight plastic adjustable fan and put it on the Blue mat facing the robot.",
+    "Use the right arm to pick the smooth compact fan, set it on the Blue mat, and face it toward the robot.",
+    "Use the right arm to grab the white fan with adjustable arm, then align it on the Blue mat facing the robot.",
+    "Take the fan with rectangular base, place it on the Blue mat, ensure it points at the robot",
+    "Lift the portable white fan, align it toward the robot, and position it on the Blue mat.",
+    "Grab the portable white fan with the right arm, making sure it faces the robot on the Blue mat.",
+    "Use the right arm to pick up the round white fan and place it on Blue mat.",
+    "Set the table fan with white finish on the Blue mat and make sure it faces the robot",
+    "Grab the fan with grid cover and carefully place it on the Blue mat facing toward the robot.",
+    "Use the right arm to grab the fan with round blades, set it on Blue mat, and make it face the robot.",
+    "Grab the fan with round blades with the right arm, set it on the Blue mat, and align it to face the robot",
+    "Grab the small fan and position it on the Blue mat, ensuring it faces the robot.",
+    "Pick the smooth compact fan, align it toward the robot, and drop it on the Blue mat.",
+    "Set the fan with round blades onto the Blue colored mat, oriented towards the robot.",
+    "Place the lightweight plastic adjustable fan on the Blue mat and confirm it is pointing at the robot",
+    "Place the white fan on the Blue mat and verify it is facing the robot.",
+    "Pick the white fan, place it on the Blue mat, and ensure it points toward the robot.",
+    "Lift the compact plastic fan and put it on the Blue mat so it faces the robot",
+    "Pick the fan with round blades with the right arm, align it to face the robot, and set it on the Blue mat.",
+    "Using the right arm, grab the lightweight plastic adjustable fan, face it towards the robot, and set it on the Blue mat.",
+    "Put the fan with round blades on the Blue mat and make sure it faces the robot.",
+    "Grab the compact plastic fan, position it to face the robot, and place it on the Blue mat.",
+    "Using the right arm, grab the lightweight plastic adjustable fan and set it on the Blue mat facing the robot.",
+    "Grab the lightweight plastic adjustable fan using the right arm and position it on the Blue mat facing the robot.",
+    "Pick up the round white fan and ensure it faces the robot on the Blue mat.",
+    "Lift the white fan with adjustable arm and set it on the Blue mat, ensuring it faces the robot.",
+    "Take the table fan with white finish and place it on the Blue mat, making sure it faces the robot.",
+    "Place the portable white fan on the Blue colored mat ensuring it faces the robot.",
+    "Pick the round white fan with the right arm and set it on the Blue mat facing the robot.",
+    "Position the white fan on the Blue mat so it faces the robot.",
+    "With the right arm, grab the portable white fan and position it on the Blue mat facing the robot",
+    "Use the right arm to pick the white fan, set it on the Blue mat, and direct it toward the robot",
+    "Pick up the round white fan and place it on the Blue mat with it facing the robot.",
+    "Place the white fan with adjustable arm on the Blue mat after grabbing it with the right arm and align it toward the robot.",
+    "Pick up the table fan with white finish and place it on the Blue mat ensuring it faces the robot.",
+    "Lift the white fan, place it on the Blue mat, and ensure it's facing the robot.",
+    "Set the fan with round blades on the Blue colored mat ensuring it faces the robot.",
+    "Grab the fan with rectangular base with the right arm and ensure it's positioned on the Blue mat facing the robot.",
+    "Pick up the fan with grid cover with the right arm, place it on the Blue mat, and turn it toward the robot.",
+    "Pick the fan with round blades with the right arm, ensure it faces the robot, and put it on the Blue mat.",
+    "Take the table fan with white finish with the right arm, put it on the Blue mat, and make it face the robot",
+    "Grab the fan with rectangular base using the right arm and set it on the Blue colored mat, facing the robot.",
+    "With the right arm, grab the smooth compact fan, align it to face the robot, and put it on the Blue mat.",
+    "Use the right arm to grab the smooth compact fan, put it on the Blue mat, and face it toward the robot",
+    "Grab the lightweight plastic adjustable fan with the right arm, place it on the Blue mat, ensure it faces the robot.",
+    "Grab the smooth compact fan using the right arm and place it on the Blue mat ensuring it faces the robot.",
+    "Place the fan with round blades on the Blue mat and ensure it faces the robot.",
+    "Place the round white fan on the Blue mat and position it to face the robot."
+  ]
+}
diff --git a/place_fan/episode_0000018/TCP_head/metadata.json b/place_fan/episode_0000018/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca46fe5d6ad59eba8b61b53578e256e96dfc8559
--- /dev/null
+++ b/place_fan/episode_0000018/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    143,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/place_fan/episode_0000018/metadata.json b/place_fan/episode_0000018/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b088a122a23e65360e828b9b77da2346b02fc6e
--- /dev/null
+++ b/place_fan/episode_0000018/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "place_fan",
+  "episode": "episode_0000018",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/place_fan/aloha_agilex/data/episode_0000018.hdf5",
+  "num_frames": 143,
+  "image_height": 240,
+  "image_width": 320,
+  "views": {
+    "left_view": "cam_left_wrist",
+    "right_view": "cam_right_wrist",
+    "head_view": "cam_head",
+    "third_views": "cam_third_view"
+  },
+  "rgb": {
+    "format": "PNG",
+    "dtype": "uint8",
+    "channel_order": "RGB"
+  },
+  "depth": {
+    "format": "PNG",
+    "dtype": "uint16",
+    "unit": "millimeter",
+    "invalid_value": 0
+  },
+  "intrinsics": {
+    "shape": [
+      3,
+      3
+    ],
+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
+  "extrinsics": {
+    "shape": [
+      143,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      143,
+      14
+    ],
+    "action_shape": [
+      143,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Pick up the handheld fan with circular blade housing and place it on the Yellow mat with it facing the robot.",
+    "Pick the plastic fan with smooth finish with the right arm, align it to face the robot, and set it on the Yellow mat.",
+    "Set the rounded fan with central handle on the Yellow mat and make sure it faces the robot",
+    "Grab the smooth off-white plastic fan with the right arm, place it on the Yellow mat, ensure it faces the robot.",
+    "Grab the fan with rounded rectangular body and carefully place it on the Yellow mat facing toward the robot.",
+    "Place the rounded fan with central handle on the Yellow mat and position it to face the robot.",
+    "Lift the off-white fan, align it toward the robot, and position it on the Yellow mat.",
+    "Pick up the small cooling device fan with the right arm, place it on the Yellow mat, and turn it toward the robot.",
+    "Grab the compact fan with beige blades with the right arm and ensure it's positioned on the Yellow mat facing the robot.",
+    "Lift the off-white fan, place it on the Yellow mat, and ensure it's facing the robot.",
+    "Lift the plastic fan with smooth finish and set it on the Yellow mat, ensuring it faces the robot.",
+    "Grab the curved plastic body small fan using the right arm and set it on the Yellow colored mat, facing the robot.",
+    "With the right arm, grab the curved plastic body small fan and position it on the Yellow mat facing the robot",
+    "Place the small cooling device fan on the Yellow mat and confirm it is pointing at the robot",
+    "With the right arm, grab the compact fan with beige blades, align it to face the robot, and put it on the Yellow mat.",
+    "Pick up the small handheld fan and place it on the Yellow mat ensuring it faces the robot.",
+    "Pick the fan with beige grilles with the right arm and set it on the Yellow mat facing the robot.",
+    "Set the handheld fan with circular blade housing onto the Yellow colored mat, oriented towards the robot.",
+    "Grab the smooth off-white plastic fan, position it to face the robot, and place it on the Yellow mat.",
+    "Position the small handheld fan on the Yellow mat so it faces the robot.",
+    "Grab the compact fan with beige blades and position it on the Yellow mat, ensuring it faces the robot.",
+    "Place the curved plastic body small fan on the Yellow mat and ensure it faces the robot.",
+    "Put the fan with rounded rectangular body on the Yellow mat and make sure it faces the robot.",
+    "Use the right arm to grab the fan with rounded rectangular body, then align it on the Yellow mat facing the robot.",
+    "Using the right arm, grab the small cooling device fan and put it on the Yellow mat facing the robot.",
+    "Grab the fan with rounded rectangular body using the right arm and position it on the Yellow mat facing the robot.",
+    "Place the smooth off-white plastic fan on the Yellow colored mat ensuring it faces the robot.",
+    "Use the right arm to pick the fan with cylinder-shaped handle base, set it on the Yellow mat, and direct it toward the robot",
+    "Using the right arm, grab the off-white fan, face it towards the robot, and set it on the Yellow mat.",
+    "Use the right arm to grab the handheld fan with circular blade housing, put it on the Yellow mat, and face it toward the robot",
+    "Pick the smooth off-white plastic fan, align it toward the robot, and drop it on the Yellow mat.",
+    "Use the right arm to pick the rounded fan with central handle, set it on the Yellow mat, and face it toward the robot.",
+    "Set the off-white fan on the Yellow colored mat ensuring it faces the robot.",
+    "Lift the compact fan with beige blades using the right arm and put it on the Yellow mat facing the robot.",
+    "Pick the fan with beige grilles with the right arm, ensure it faces the robot, and put it on the Yellow mat.",
+    "Take the off-white fan with the right arm, put it on the Yellow mat, and make it face the robot",
+    "Pick the handheld fan with circular blade housing, place it on the Yellow mat, and ensure it points toward the robot.",
+    "Using the right arm, grab the handheld fan with circular blade housing and set it on the Yellow mat facing the robot.",
+    "Use the right arm to pick up the fan with beige grilles and place it on Yellow mat.",
+    "Place the curved plastic body small fan on the Yellow mat and verify it is facing the robot.",
+    "Use the right arm to grab the fan with cylinder-shaped handle base, set it on Yellow mat, and make it face the robot.",
+    "Grab the off-white fan using the right arm and place it on the Yellow mat ensuring it faces the robot.",
+    "Grab the handheld fan with circular blade housing with the right arm, making sure it faces the robot on the Yellow mat.",
+    "Pick up the fan with beige grilles and ensure it faces the robot on the Yellow mat.",
+    "Lift the plastic fan with smooth finish with the right arm, place it on the Yellow mat, and point it at the robot",
+    "Take the small handheld fan and place it on the Yellow mat, making sure it faces the robot.",
+    "Take the small handheld fan, place it on the Yellow mat, ensure it points at the robot",
+    "Place the smooth off-white plastic fan on the Yellow mat after grabbing it with the right arm and align it toward the robot.",
+    "Lift the curved plastic body small fan and put it on the Yellow mat so it faces the robot",
+    "Grab the fan with cylinder-shaped handle base with the right arm, set it on the Yellow mat, and align it to face the robot",
+    "Pick up the rounded fan with central handle and place it on the Yellow mat with it facing the robot.",
+    "Pick the rounded fan with central handle with the right arm, align it to face the robot, and set it on the Yellow mat.",
+    "Set the smooth off-white plastic fan on the Yellow mat and make sure it faces the robot",
+    "Grab the handheld fan with circular blade housing with the right arm, place it on the Yellow mat, ensure it faces the robot.",
+    "Grab the compact fan with beige blades and carefully place it on the Yellow mat facing toward the robot.",
+    "Place the fan with beige grilles on the Yellow mat and position it to face the robot.",
+    "Lift the smooth off-white plastic fan, align it toward the robot, and position it on the Yellow mat.",
+    "Pick up the fan with rounded rectangular body with the right arm, place it on the Yellow mat, and turn it toward the robot.",
+    "Grab the rounded fan with central handle with the right arm and ensure it's positioned on the Yellow mat facing the robot.",
+    "Lift the compact fan with beige blades, place it on the Yellow mat, and ensure it's facing the robot.",
+    "Lift the compact fan with beige blades and set it on the Yellow mat, ensuring it faces the robot.",
+    "Grab the fan with rounded rectangular body using the right arm and set it on the Yellow colored mat, facing the robot.",
+    "With the right arm, grab the handheld fan with circular blade housing and position it on the Yellow mat facing the robot",
+    "Place the smooth off-white plastic fan on the Yellow mat and confirm it is pointing at the robot",
+    "With the right arm, grab the fan with cylinder-shaped handle base, align it to face the robot, and put it on the Yellow mat.",
+    "Pick up the off-white fan and place it on the Yellow mat ensuring it faces the robot.",
+    "Pick the curved plastic body small fan with the right arm and set it on the Yellow mat facing the robot.",
+    "Set the rounded fan with central handle onto the Yellow colored mat, oriented towards the robot.",
+    "Grab the curved plastic body small fan, position it to face the robot, and place it on the Yellow mat.",
+    "Position the fan with beige grilles on the Yellow mat so it faces the robot.",
+    "Grab the plastic fan with smooth finish and position it on the Yellow mat, ensuring it faces the robot.",
+    "Place the fan with cylinder-shaped handle base on the Yellow mat and ensure it faces the robot.",
+    "Put the small cooling device fan on the Yellow mat and make sure it faces the robot.",
+    "Use the right arm to grab the small cooling device fan, then align it on the Yellow mat facing the robot.",
+    "Using the right arm, grab the curved plastic body small fan and put it on the Yellow mat facing the robot.",
+    "Grab the fan with beige grilles using the right arm and position it on the Yellow mat facing the robot.",
+    "Place the fan with rounded rectangular body on the Yellow colored mat ensuring it faces the robot.",
+    "Use the right arm to pick the off-white fan, set it on the Yellow mat, and direct it toward the robot",
+    "Using the right arm, grab the fan with rounded rectangular body, face it towards the robot, and set it on the Yellow mat.",
+    "Use the right arm to grab the compact fan with beige blades, put it on the Yellow mat, and face it toward the robot",
+    "Pick the curved plastic body small fan, align it toward the robot, and drop it on the Yellow mat.",
+    "Use the right arm to pick the handheld fan with circular blade housing, set it on the Yellow mat, and face it toward the robot.",
+    "Set the off-white fan on the Yellow colored mat ensuring it faces the robot.",
+    "Lift the rounded fan with central handle using the right arm and put it on the Yellow mat facing the robot.",
+    "Pick the fan with beige grilles with the right arm, ensure it faces the robot, and put it on the Yellow mat.",
+    "Take the handheld fan with circular blade housing with the right arm, put it on the Yellow mat, and make it face the robot",
+    "Pick the plastic fan with smooth finish, place it on the Yellow mat, and ensure it points toward the robot.",
+    "Using the right arm, grab the small handheld fan and set it on the Yellow mat facing the robot.",
+    "Use the right arm to pick up the small handheld fan and place it on Yellow mat.",
+    "Place the handheld fan with circular blade housing on the Yellow mat and verify it is facing the robot.",
+    "Use the right arm to grab the small handheld fan, set it on Yellow mat, and make it face the robot.",
+    "Grab the smooth off-white plastic fan using the right arm and place it on the Yellow mat ensuring it faces the robot.",
+    "Grab the compact fan with beige blades with the right arm, making sure it faces the robot on the Yellow mat.",
+    "Pick up the rounded fan with central handle and ensure it faces the robot on the Yellow mat.",
+    "Lift the fan with rounded rectangular body with the right arm, place it on the Yellow mat, and point it at the robot",
+    "Take the rounded fan with central handle and place it on the Yellow mat, making sure it faces the robot.",
+    "Take the handheld fan with circular blade housing, place it on the Yellow mat, ensure it points at the robot",
+    "Place the fan with rounded rectangular body on the Yellow mat after grabbing it with the right arm and align it toward the robot.",
+    "Lift the off-white fan and put it on the Yellow mat so it faces the robot",
+    "Grab the plastic fan with smooth finish with the right arm, set it on the Yellow mat, and align it to face the robot"
+  ]
+}
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+  "format": "robotwin_tcp_v1",
+  "shape": [
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+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
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+  "source": "robot_state.npy"
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+    "y",
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+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
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+    "closed": 0,
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+  "source": "robot_state.npy"
+}
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+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
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+  "gripper": {
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+    "open": 1,
+    "closed": 0,
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+{
+  "format_version": "robotwin_4d_v1",
+  "task": "rotate_qrcode",
+  "episode": "episode_0000011",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/rotate_qrcode/aloha_agilex/data/episode_0000011.hdf5",
+  "num_frames": 175,
+  "image_height": 240,
+  "image_width": 320,
+  "views": {
+    "left_view": "cam_left_wrist",
+    "right_view": "cam_right_wrist",
+    "head_view": "cam_head",
+    "third_views": "cam_third_view"
+  },
+  "rgb": {
+    "format": "PNG",
+    "dtype": "uint8",
+    "channel_order": "RGB"
+  },
+  "depth": {
+    "format": "PNG",
+    "dtype": "uint16",
+    "unit": "millimeter",
+    "invalid_value": 0
+  },
+  "intrinsics": {
+    "shape": [
+      3,
+      3
+    ],
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+    "per_view_constant": true
+  },
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+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
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+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
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+      {
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+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
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+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Employ the right arm to seize the rectangular paymentsign with stand, raise it, and rotate it QR-forward",
+    "Use the right arm to grab the sign with yellow payment section and point its QR code toward you.",
+    "Use the right arm to take the smooth plastic paymentsign with QR code and turn it until the QR code faces you",
+    "Catch the plastic smooth paymentsign with the right arm, then rotate it to make the QR code visible.",
+    "Pick up the sign with yellow payment section and rotate it so the QR code faces you",
+    "Pick up the yellow and white payment display and adjust its position to face the qrcode towards you.",
+    "Grab the white rectangular paymentsign with yellow details with the right arm, then rotate it to face yourself.",
+    "Pick the white stand sign up, then rotate to make its qrcode visible.",
+    "Lift the white stand sign and rotate it until the QR code faces you.",
+    "Grab the yellow panel white paymentsign using the right arm, then rotate the QR code to face forward.",
+    "Take the white stand sign, lift it, and orient it so the QR faces you",
+    "Find the white stand sign, grab it, and turn it towards yourself.",
+    "Use the right arm to lift the tabletop paymentsign and rotate it QR code toward you.",
+    "Catch the smooth plastic paymentsign with QR code, pick it up, and rotate to view the qrcode.",
+    "Use the right arm to grab the paymentsign and rotate the qrcode to face you.",
+    "Pick the plastic smooth paymentsign up and turn its QR code toward you using the right arm.",
+    "Catch the white stand sign using the right arm, pick it up, and turn it to face the QR code.",
+    "Catch the paymentsign with QR code area off the table and rotate its qrcode to you.",
+    "Grab the white stand sign using the right arm, lift, and rotate until QR code faces you.",
+    "Lift the white paymentsign with raised base and rotate until its qrcode faces you.",
+    "Lift the yellow panel white paymentsign and rotate for its qrcode to face you.",
+    "Catch the smooth plastic paymentsign with QR code, pick it up, and rotate to show the QR code.",
+    "Use the right arm to grab the paymentsign with QR code area and rotate it until the QR faces forward",
+    "Pick the rectangular paymentsign with stand up, rotate it, and ensure the QR code faces you.",
+    "Use the right arm to grab the rectangular paymentsign with stand, rotate, and face the QR code towards you.",
+    "Using the right arm, catch the rectangular paymentsign with stand and rotate it to face the QR code.",
+    "Catch the rectangular paymentsign with stand, lift it, and turn the qrcode towards you.",
+    "Catch and lift the white stand sign, then turn it to show the QR code.",
+    "Grab the yellow and white payment display, lift it from the table, and rotate it QR front",
+    "Lift the plastic smooth paymentsign from the table and rotate it towards you",
+    "Use the right arm to grab the yellow panel white paymentsign and rotate QR code towards you.",
+    "Grab the white stand sign, pick it up, and turn its qrcode toward you.",
+    "Lift the white rectangular paymentsign with yellow details from the table and rotate it so the code faces you.",
+    "Take the rectangular paymentsign with stand from the table, rotating it QR code toward you.",
+    "Lift the yellow and white payment display from the table and turn it to face you.",
+    "Lift the tabletop paymentsign and orient its QR code toward you with the right arm.",
+    "Take the rectangular paymentsign with stand, raise it, and make the qrcode face you.",
+    "Grab the smooth plastic paymentsign with QR code using the right arm, then rotate it until the qrcode faces you.",
+    "Lift the sign with yellow payment section with the right arm, then rotate it to make the qrcode visible.",
+    "Use the right arm to lift the sign with yellow payment section from the table and face the qrcode.",
+    "Lift the paymentsign from the surface and adjust its angle towards you",
+    "Lift the sign with yellow payment section from the table, turning it QR code forward.",
+    "Use the right arm to pick the sign with yellow payment section and turn it towards you.",
+    "Locate the tabletop paymentsign, pick it up, and adjust its angle.",
+    "Catch the smooth plastic paymentsign with QR code, lift it, and adjust its QR code to face you.",
+    "Use the right arm to grab the yellow and white payment display, lift, and turn it QR code forward",
+    "Catch the yellow and white payment display, lift, and rotate to align the qrcode to you.",
+    "Slide the yellow panel white paymentsign off the table and turn it to face you.",
+    "Catch the sign with yellow payment section, lift it, and rotate it QR code facing.",
+    "Catch the smooth plastic paymentsign with QR code, raise it, and turn it so the QR code faces you",
+    "Employ the right arm to seize the sign with yellow payment section, raise it, and rotate it QR-forward",
+    "Use the right arm to grab the plastic smooth paymentsign and point its QR code toward you.",
+    "Use the right arm to take the white stand sign and turn it until the QR code faces you",
+    "Catch the paymentsign with QR code area with the right arm, then rotate it to make the QR code visible.",
+    "Pick up the rectangular paymentsign with stand and rotate it so the QR code faces you",
+    "Pick up the smooth plastic paymentsign with QR code and adjust its position to face the qrcode towards you.",
+    "Grab the paymentsign with the right arm, then rotate it to face yourself.",
+    "Pick the paymentsign up, then rotate to make its qrcode visible.",
+    "Lift the sign with yellow payment section and rotate it until the QR code faces you.",
+    "Grab the sign with yellow payment section using the right arm, then rotate the QR code to face forward.",
+    "Take the yellow and white payment display, lift it, and orient it so the QR faces you",
+    "Find the plastic smooth paymentsign, grab it, and turn it towards yourself.",
+    "Use the right arm to lift the yellow panel white paymentsign and rotate it QR code toward you.",
+    "Catch the paymentsign with QR code area, pick it up, and rotate to view the qrcode.",
+    "Use the right arm to grab the white paymentsign with raised base and rotate the qrcode to face you.",
+    "Pick the white paymentsign with raised base up and turn its QR code toward you using the right arm.",
+    "Catch the sign with yellow payment section using the right arm, pick it up, and turn it to face the QR code.",
+    "Catch the paymentsign off the table and rotate its qrcode to you.",
+    "Grab the rectangular paymentsign with stand using the right arm, lift, and rotate until QR code faces you.",
+    "Lift the plastic smooth paymentsign and rotate until its qrcode faces you.",
+    "Lift the smooth plastic paymentsign with QR code and rotate for its qrcode to face you.",
+    "Catch the tabletop paymentsign, pick it up, and rotate to show the QR code.",
+    "Use the right arm to grab the sign with yellow payment section and rotate it until the QR faces forward",
+    "Pick the yellow and white payment display up, rotate it, and ensure the QR code faces you.",
+    "Use the right arm to grab the yellow and white payment display, rotate, and face the QR code towards you.",
+    "Using the right arm, catch the paymentsign with QR code area and rotate it to face the QR code.",
+    "Catch the yellow and white payment display, lift it, and turn the qrcode towards you.",
+    "Catch and lift the white stand sign, then turn it to show the QR code.",
+    "Grab the smooth plastic paymentsign with QR code, lift it from the table, and rotate it QR front",
+    "Lift the rectangular paymentsign with stand from the table and rotate it towards you",
+    "Use the right arm to grab the white paymentsign with raised base and rotate QR code towards you.",
+    "Grab the yellow panel white paymentsign, pick it up, and turn its qrcode toward you.",
+    "Lift the sign with yellow payment section from the table and rotate it so the code faces you.",
+    "Take the tabletop paymentsign from the table, rotating it QR code toward you.",
+    "Lift the yellow and white payment display from the table and turn it to face you.",
+    "Lift the plastic smooth paymentsign and orient its QR code toward you with the right arm.",
+    "Take the tabletop paymentsign, raise it, and make the qrcode face you.",
+    "Grab the sign with yellow payment section using the right arm, then rotate it until the qrcode faces you.",
+    "Lift the smooth plastic paymentsign with QR code with the right arm, then rotate it to make the qrcode visible.",
+    "Use the right arm to lift the paymentsign from the table and face the qrcode.",
+    "Lift the white rectangular paymentsign with yellow details from the surface and adjust its angle towards you",
+    "Lift the sign with yellow payment section from the table, turning it QR code forward.",
+    "Use the right arm to pick the sign with yellow payment section and turn it towards you.",
+    "Locate the rectangular paymentsign with stand, pick it up, and adjust its angle.",
+    "Catch the white rectangular paymentsign with yellow details, lift it, and adjust its QR code to face you.",
+    "Use the right arm to grab the yellow and white payment display, lift, and turn it QR code forward",
+    "Catch the tabletop paymentsign, lift, and rotate to align the qrcode to you.",
+    "Slide the tabletop paymentsign off the table and turn it to face you.",
+    "Catch the paymentsign, lift it, and rotate it QR code facing.",
+    "Catch the paymentsign, raise it, and turn it so the QR code faces you"
+  ]
+}
diff --git a/rotate_qrcode/episode_0000021/TCP_head/metadata.json b/rotate_qrcode/episode_0000021/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cee8615f12d8082eb24bbff045f366f74995a3de
--- /dev/null
+++ b/rotate_qrcode/episode_0000021/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    160,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/rotate_qrcode/episode_0000021/TCP_third/metadata.json b/rotate_qrcode/episode_0000021/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..eca4c10c1fe3ff7ab3b35037e5fd7c177e19d8bb
--- /dev/null
+++ b/rotate_qrcode/episode_0000021/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    160,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/rotate_qrcode/episode_0000021/metadata.json b/rotate_qrcode/episode_0000021/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9785f380e08891452daaa21adf5fcb2b2e8cbf1
--- /dev/null
+++ b/rotate_qrcode/episode_0000021/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "rotate_qrcode",
+  "episode": "episode_0000021",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/rotate_qrcode/aloha_agilex/data/episode_0000021.hdf5",
+  "num_frames": 160,
+  "image_height": 240,
+  "image_width": 320,
+  "views": {
+    "left_view": "cam_left_wrist",
+    "right_view": "cam_right_wrist",
+    "head_view": "cam_head",
+    "third_views": "cam_third_view"
+  },
+  "rgb": {
+    "format": "PNG",
+    "dtype": "uint8",
+    "channel_order": "RGB"
+  },
+  "depth": {
+    "format": "PNG",
+    "dtype": "uint16",
+    "unit": "millimeter",
+    "invalid_value": 0
+  },
+  "intrinsics": {
+    "shape": [
+      3,
+      3
+    ],
+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
+  "extrinsics": {
+    "shape": [
+      160,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      160,
+      14
+    ],
+    "action_shape": [
+      160,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Use the right arm to lift the green payment logo on gray top from the table and face the qrcode.",
+    "Catch the paymentsign using the right arm, pick it up, and turn it to face the QR code.",
+    "Grab the gray top with QR code, lift it from the table, and rotate it QR front",
+    "Find the payment sign with angled face, grab it, and turn it towards yourself.",
+    "Catch the black base with tilted gray panel, raise it, and turn it so the QR code faces you",
+    "Catch the small black stand for payments with the right arm, then rotate it to make the QR code visible.",
+    "Lift the tabletop-sized payment sign from the table and turn it to face you.",
+    "Catch the slanted gray panel for QR code scan, pick it up, and rotate to show the QR code.",
+    "Grab the payment sign with angled face with the right arm, then rotate it to face yourself.",
+    "Take the gray top with QR code from the table, rotating it QR code toward you.",
+    "Use the right arm to grab the tabletop-sized payment sign and point its QR code toward you.",
+    "Take the slanted gray panel for QR code scan, lift it, and orient it so the QR faces you",
+    "Use the right arm to grab the payment sign with angled face and rotate QR code towards you.",
+    "Use the right arm to grab the payment sign with green logo, lift, and turn it QR code forward",
+    "Catch the payment sign with green logo, pick it up, and rotate to view the qrcode.",
+    "Use the right arm to grab the payment sign with green logo and rotate the qrcode to face you.",
+    "Lift the green payment logo on gray top with the right arm, then rotate it to make the qrcode visible.",
+    "Pick the payment sign with green logo up, then rotate to make its qrcode visible.",
+    "Lift the payment sign with angled face from the table, turning it QR code forward.",
+    "Pick the small payment stand with black base up, rotate it, and ensure the QR code faces you.",
+    "Pick the payment sign with green logo up and turn its QR code toward you using the right arm.",
+    "Take the paymentsign, raise it, and make the qrcode face you.",
+    "Pick up the small black stand for payments and rotate it so the QR code faces you",
+    "Lift the payment sign with angled face from the table and rotate it towards you",
+    "Pick up the triangular stand with QR code and adjust its position to face the qrcode towards you.",
+    "Catch the slanted gray panel for QR code scan off the table and rotate its qrcode to you.",
+    "Catch the tabletop-sized payment sign, lift it, and turn the qrcode towards you.",
+    "Catch the black base with tilted gray panel, lift, and rotate to align the qrcode to you.",
+    "Locate the paymentsign, pick it up, and adjust its angle.",
+    "Using the right arm, catch the tabletop-sized payment sign and rotate it to face the QR code.",
+    "Use the right arm to grab the slanted gray panel for QR code scan, rotate, and face the QR code towards you.",
+    "Grab the green payment logo on gray top using the right arm, then rotate it until the qrcode faces you.",
+    "Grab the payment sign with green logo, pick it up, and turn its qrcode toward you.",
+    "Slide the gray slanted panel with text off the table and turn it to face you.",
+    "Lift the small black stand for payments and rotate it until the QR code faces you.",
+    "Catch the gray top with QR code, lift it, and rotate it QR code facing.",
+    "Use the right arm to pick the gray top with QR code and turn it towards you.",
+    "Use the right arm to lift the triangular stand with QR code and rotate it QR code toward you.",
+    "Lift the payment sign with green logo and rotate for its qrcode to face you.",
+    "Use the right arm to grab the payment sign with green logo and rotate it until the QR faces forward",
+    "Lift the payment sign with angled face and orient its QR code toward you with the right arm.",
+    "Grab the black base with tilted gray panel using the right arm, then rotate the QR code to face forward.",
+    "Use the right arm to take the slanted gray panel for QR code scan and turn it until the QR code faces you",
+    "Lift the slanted gray panel for QR code scan from the surface and adjust its angle towards you",
+    "Grab the tabletop-sized payment sign using the right arm, lift, and rotate until QR code faces you.",
+    "Lift the tabletop-sized payment sign and rotate until its qrcode faces you.",
+    "Employ the right arm to seize the small black stand for payments, raise it, and rotate it QR-forward",
+    "Catch and lift the small payment stand with black base, then turn it to show the QR code.",
+    "Lift the black base with tilted gray panel from the table and rotate it so the code faces you.",
+    "Catch the black base with tilted gray panel, lift it, and adjust its QR code to face you.",
+    "Use the right arm to lift the small payment stand with black base from the table and face the qrcode.",
+    "Catch the triangular stand with QR code using the right arm, pick it up, and turn it to face the QR code.",
+    "Grab the tabletop-sized payment sign, lift it from the table, and rotate it QR front",
+    "Find the black base with tilted gray panel, grab it, and turn it towards yourself.",
+    "Catch the payment sign with angled face, raise it, and turn it so the QR code faces you",
+    "Catch the payment sign with green logo with the right arm, then rotate it to make the QR code visible.",
+    "Lift the payment sign with green logo from the table and turn it to face you.",
+    "Catch the small black stand for payments, pick it up, and rotate to show the QR code.",
+    "Grab the triangular stand with QR code with the right arm, then rotate it to face yourself.",
+    "Take the small black stand for payments from the table, rotating it QR code toward you.",
+    "Use the right arm to grab the gray top with QR code and point its QR code toward you.",
+    "Take the payment sign with angled face, lift it, and orient it so the QR faces you",
+    "Use the right arm to grab the tabletop-sized payment sign and rotate QR code towards you.",
+    "Use the right arm to grab the payment sign with angled face, lift, and turn it QR code forward",
+    "Catch the payment sign with angled face, pick it up, and rotate to view the qrcode.",
+    "Use the right arm to grab the small black stand for payments and rotate the qrcode to face you.",
+    "Lift the payment sign with angled face with the right arm, then rotate it to make the qrcode visible.",
+    "Pick the payment sign with green logo up, then rotate to make its qrcode visible.",
+    "Lift the triangular stand with QR code from the table, turning it QR code forward.",
+    "Pick the black base with tilted gray panel up, rotate it, and ensure the QR code faces you.",
+    "Pick the black base with tilted gray panel up and turn its QR code toward you using the right arm.",
+    "Take the gray slanted panel with text, raise it, and make the qrcode face you.",
+    "Pick up the triangular stand with QR code and rotate it so the QR code faces you",
+    "Lift the small black stand for payments from the table and rotate it towards you",
+    "Pick up the gray top with QR code and adjust its position to face the qrcode towards you.",
+    "Catch the black base with tilted gray panel off the table and rotate its qrcode to you.",
+    "Catch the small payment stand with black base, lift it, and turn the qrcode towards you.",
+    "Catch the payment sign with angled face, lift, and rotate to align the qrcode to you.",
+    "Locate the payment sign with angled face, pick it up, and adjust its angle.",
+    "Using the right arm, catch the triangular stand with QR code and rotate it to face the QR code.",
+    "Use the right arm to grab the small black stand for payments, rotate, and face the QR code towards you.",
+    "Grab the paymentsign using the right arm, then rotate it until the qrcode faces you.",
+    "Grab the payment sign with green logo, pick it up, and turn its qrcode toward you.",
+    "Slide the payment sign with angled face off the table and turn it to face you.",
+    "Lift the small black stand for payments and rotate it until the QR code faces you.",
+    "Catch the triangular stand with QR code, lift it, and rotate it QR code facing.",
+    "Use the right arm to pick the slanted gray panel for QR code scan and turn it towards you.",
+    "Use the right arm to lift the gray top with QR code and rotate it QR code toward you.",
+    "Lift the triangular stand with QR code and rotate for its qrcode to face you.",
+    "Use the right arm to grab the payment sign with angled face and rotate it until the QR faces forward",
+    "Lift the black base with tilted gray panel and orient its QR code toward you with the right arm.",
+    "Grab the small black stand for payments using the right arm, then rotate the QR code to face forward.",
+    "Use the right arm to take the small payment stand with black base and turn it until the QR code faces you",
+    "Lift the payment sign with angled face from the surface and adjust its angle towards you",
+    "Grab the slanted gray panel for QR code scan using the right arm, lift, and rotate until QR code faces you.",
+    "Lift the slanted gray panel for QR code scan and rotate until its qrcode faces you.",
+    "Employ the right arm to seize the black base with tilted gray panel, raise it, and rotate it QR-forward",
+    "Catch and lift the gray slanted panel with text, then turn it to show the QR code.",
+    "Lift the tabletop-sized payment sign from the table and rotate it so the code faces you.",
+    "Catch the paymentsign, lift it, and adjust its QR code to face you."
+  ]
+}
diff --git a/rotate_qrcode/episode_0000023/TCP_head/metadata.json b/rotate_qrcode/episode_0000023/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..af36b07437d3f8273d13ab023dc7a8609c8a0a96
--- /dev/null
+++ b/rotate_qrcode/episode_0000023/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    164,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/rotate_qrcode/episode_0000023/TCP_third/metadata.json b/rotate_qrcode/episode_0000023/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..01a3cb50179c33cf17ad68f3c010baf2ff81ae2a
--- /dev/null
+++ b/rotate_qrcode/episode_0000023/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    164,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/rotate_qrcode/episode_0000023/metadata.json b/rotate_qrcode/episode_0000023/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b7c6573547aad5d113328c7dd794fec552c5e8a
--- /dev/null
+++ b/rotate_qrcode/episode_0000023/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "rotate_qrcode",
+  "episode": "episode_0000023",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/rotate_qrcode/aloha_agilex/data/episode_0000023.hdf5",
+  "num_frames": 164,
+  "image_height": 240,
+  "image_width": 320,
+  "views": {
+    "left_view": "cam_left_wrist",
+    "right_view": "cam_right_wrist",
+    "head_view": "cam_head",
+    "third_views": "cam_third_view"
+  },
+  "rgb": {
+    "format": "PNG",
+    "dtype": "uint8",
+    "channel_order": "RGB"
+  },
+  "depth": {
+    "format": "PNG",
+    "dtype": "uint16",
+    "unit": "millimeter",
+    "invalid_value": 0
+  },
+  "intrinsics": {
+    "shape": [
+      3,
+      3
+    ],
+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
+  "extrinsics": {
+    "shape": [
+      164,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      164,
+      14
+    ],
+    "action_shape": [
+      164,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Use the right arm to pick the paymentsign for scanning QR codes and turn it towards you.",
+    "Lift the blue and white paymentsign and rotate until its qrcode faces you.",
+    "Catch the rectangular plastic paymentsign, pick it up, and rotate to show the QR code.",
+    "Lift the rectangular plastic paymentsign with codes and rotate for its qrcode to face you.",
+    "Lift the paymentsign with printed QR codes from the surface and adjust its angle towards you",
+    "Slide the small glossy paymentsign off the table and turn it to face you.",
+    "Lift the paymentsign with printed QR codes from the table and rotate it towards you",
+    "Using the right arm, catch the small paymentsign with stand and rotate it to face the QR code.",
+    "Use the right arm to lift the rectangular plastic paymentsign with codes from the table and face the qrcode.",
+    "Catch the blue and white paymentsign using the right arm, pick it up, and turn it to face the QR code.",
+    "Grab the tabletop paymentsign using the right arm, then rotate the QR code to face forward.",
+    "Use the right arm to grab the tabletop paymentsign, lift, and turn it QR code forward",
+    "Take the paymentsign with printed QR codes, raise it, and make the qrcode face you.",
+    "Lift the paymentsign for scanning QR codes from the table, turning it QR code forward.",
+    "Catch the rectangular plastic paymentsign, lift it, and rotate it QR code facing.",
+    "Use the right arm to grab the small glossy paymentsign and point its QR code toward you.",
+    "Use the right arm to grab the paymentsign for scanning QR codes and rotate QR code towards you.",
+    "Grab the blue and white paymentsign, lift it from the table, and rotate it QR front",
+    "Catch the paymentsign with glossy blue panel off the table and rotate its qrcode to you.",
+    "Lift the paymentsign with glossy blue panel with the right arm, then rotate it to make the qrcode visible.",
+    "Use the right arm to grab the tabletop paymentsign and rotate the qrcode to face you.",
+    "Grab the smooth surface paymentsign with the right arm, then rotate it to face yourself.",
+    "Use the right arm to lift the blue and white rectangular paymentsign and rotate it QR code toward you.",
+    "Lift the blue and white rectangular paymentsign from the table and turn it to face you.",
+    "Catch the blue and white paymentsign with the right arm, then rotate it to make the QR code visible.",
+    "Take the small paymentsign with stand, lift it, and orient it so the QR faces you",
+    "Catch the paymentsign with angled black stand, lift it, and adjust its QR code to face you.",
+    "Catch the paymentsign with angled black stand, raise it, and turn it so the QR code faces you",
+    "Find the paymentsign with angled black stand, grab it, and turn it towards yourself.",
+    "Lift the tabletop paymentsign and rotate it until the QR code faces you.",
+    "Catch and lift the small glossy paymentsign, then turn it to show the QR code.",
+    "Pick the blue and white rectangular paymentsign up and turn its QR code toward you using the right arm.",
+    "Pick the paymentsign for scanning QR codes up, then rotate to make its qrcode visible.",
+    "Catch the rectangular plastic paymentsign, lift, and rotate to align the qrcode to you.",
+    "Grab the paymentsign with angled black stand using the right arm, then rotate it until the qrcode faces you.",
+    "Use the right arm to take the tabletop paymentsign and turn it until the QR code faces you",
+    "Use the right arm to grab the rectangular plastic paymentsign, rotate, and face the QR code towards you.",
+    "Grab the paymentsign with glossy blue panel using the right arm, lift, and rotate until QR code faces you.",
+    "Pick the blue and white paymentsign up, rotate it, and ensure the QR code faces you.",
+    "Grab the blue and white rectangular paymentsign, pick it up, and turn its qrcode toward you.",
+    "Use the right arm to grab the rectangular plastic paymentsign and rotate it until the QR faces forward",
+    "Catch the tabletop paymentsign, lift it, and turn the qrcode towards you.",
+    "Take the paymentsign with angled black stand from the table, rotating it QR code toward you.",
+    "Lift the rectangular plastic paymentsign and orient its QR code toward you with the right arm.",
+    "Locate the blue and white rectangular paymentsign, pick it up, and adjust its angle.",
+    "Employ the right arm to seize the small glossy paymentsign, raise it, and rotate it QR-forward",
+    "Pick up the blue and white rectangular paymentsign and adjust its position to face the qrcode towards you.",
+    "Pick up the paymentsign with printed QR codes and rotate it so the QR code faces you",
+    "Lift the paymentsign with angled black stand from the table and rotate it so the code faces you.",
+    "Catch the small paymentsign with stand, pick it up, and rotate to view the qrcode.",
+    "Use the right arm to pick the small paymentsign with stand and turn it towards you.",
+    "Lift the paymentsign with glossy blue panel and rotate until its qrcode faces you.",
+    "Catch the smooth surface paymentsign, pick it up, and rotate to show the QR code.",
+    "Lift the rectangular plastic paymentsign with codes and rotate for its qrcode to face you.",
+    "Lift the smooth surface paymentsign from the surface and adjust its angle towards you",
+    "Slide the blue and white paymentsign off the table and turn it to face you.",
+    "Lift the paymentsign with glossy blue panel from the table and rotate it towards you",
+    "Using the right arm, catch the tabletop paymentsign and rotate it to face the QR code.",
+    "Use the right arm to lift the small glossy paymentsign from the table and face the qrcode.",
+    "Catch the blue and white rectangular paymentsign using the right arm, pick it up, and turn it to face the QR code.",
+    "Grab the tabletop paymentsign using the right arm, then rotate the QR code to face forward.",
+    "Use the right arm to grab the paymentsign with angled black stand, lift, and turn it QR code forward",
+    "Take the rectangular plastic paymentsign with codes, raise it, and make the qrcode face you.",
+    "Lift the rectangular plastic paymentsign with codes from the table, turning it QR code forward.",
+    "Catch the smooth surface paymentsign, lift it, and rotate it QR code facing.",
+    "Use the right arm to grab the rectangular plastic paymentsign and point its QR code toward you.",
+    "Use the right arm to grab the small paymentsign with stand and rotate QR code towards you.",
+    "Grab the blue and white paymentsign, lift it from the table, and rotate it QR front",
+    "Catch the blue and white paymentsign off the table and rotate its qrcode to you.",
+    "Lift the smooth surface paymentsign with the right arm, then rotate it to make the qrcode visible.",
+    "Use the right arm to grab the small paymentsign with stand and rotate the qrcode to face you.",
+    "Grab the paymentsign with angled black stand with the right arm, then rotate it to face yourself.",
+    "Use the right arm to lift the paymentsign with angled black stand and rotate it QR code toward you.",
+    "Lift the rectangular plastic paymentsign from the table and turn it to face you.",
+    "Catch the tabletop paymentsign with the right arm, then rotate it to make the QR code visible.",
+    "Take the rectangular plastic paymentsign, lift it, and orient it so the QR faces you",
+    "Catch the small glossy paymentsign, lift it, and adjust its QR code to face you.",
+    "Catch the paymentsign for scanning QR codes, raise it, and turn it so the QR code faces you",
+    "Find the paymentsign with printed QR codes, grab it, and turn it towards yourself.",
+    "Lift the smooth surface paymentsign and rotate it until the QR code faces you.",
+    "Catch and lift the paymentsign for scanning QR codes, then turn it to show the QR code.",
+    "Pick the paymentsign with angled black stand up and turn its QR code toward you using the right arm.",
+    "Pick the paymentsign with glossy blue panel up, then rotate to make its qrcode visible.",
+    "Catch the paymentsign with glossy blue panel, lift, and rotate to align the qrcode to you.",
+    "Grab the rectangular plastic paymentsign using the right arm, then rotate it until the qrcode faces you.",
+    "Use the right arm to take the tabletop paymentsign and turn it until the QR code faces you",
+    "Use the right arm to grab the paymentsign with angled black stand, rotate, and face the QR code towards you.",
+    "Grab the paymentsign for scanning QR codes using the right arm, lift, and rotate until QR code faces you.",
+    "Pick the rectangular plastic paymentsign up, rotate it, and ensure the QR code faces you.",
+    "Grab the blue and white paymentsign, pick it up, and turn its qrcode toward you.",
+    "Use the right arm to grab the rectangular plastic paymentsign and rotate it until the QR faces forward",
+    "Catch the paymentsign for scanning QR codes, lift it, and turn the qrcode towards you.",
+    "Take the paymentsign with glossy blue panel from the table, rotating it QR code toward you.",
+    "Lift the blue and white paymentsign and orient its QR code toward you with the right arm.",
+    "Locate the blue and white paymentsign, pick it up, and adjust its angle.",
+    "Employ the right arm to seize the paymentsign for scanning QR codes, raise it, and rotate it QR-forward",
+    "Pick up the paymentsign with glossy blue panel and adjust its position to face the qrcode towards you.",
+    "Pick up the paymentsign with glossy blue panel and rotate it so the QR code faces you",
+    "Lift the rectangular plastic paymentsign with codes from the table and rotate it so the code faces you.",
+    "Catch the paymentsign for scanning QR codes, pick it up, and rotate to view the qrcode."
+  ]
+}
diff --git a/rotate_qrcode/episode_0000044/TCP_head/metadata.json b/rotate_qrcode/episode_0000044/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7deef46d1e1fb07010e83cb3a4a2f38488994ec0
--- /dev/null
+++ b/rotate_qrcode/episode_0000044/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    155,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/rotate_qrcode/episode_0000044/metadata.json b/rotate_qrcode/episode_0000044/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d91337cb722e4a0d116e37980c164364ef8f7776
--- /dev/null
+++ b/rotate_qrcode/episode_0000044/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "rotate_qrcode",
+  "episode": "episode_0000044",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/rotate_qrcode/aloha_agilex/data/episode_0000044.hdf5",
+  "num_frames": 155,
+  "image_height": 240,
+  "image_width": 320,
+  "views": {
+    "left_view": "cam_left_wrist",
+    "right_view": "cam_right_wrist",
+    "head_view": "cam_head",
+    "third_views": "cam_third_view"
+  },
+  "rgb": {
+    "format": "PNG",
+    "dtype": "uint8",
+    "channel_order": "RGB"
+  },
+  "depth": {
+    "format": "PNG",
+    "dtype": "uint16",
+    "unit": "millimeter",
+    "invalid_value": 0
+  },
+  "intrinsics": {
+    "shape": [
+      3,
+      3
+    ],
+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
+  "extrinsics": {
+    "shape": [
+      155,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      155,
+      14
+    ],
+    "action_shape": [
+      155,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Catch the rectangular plastic paymentsign, lift it, and turn the qrcode towards you.",
+    "Pick up the rectangular plastic paymentsign and adjust its position to face the qrcode towards you.",
+    "Use the left arm to grab the small paymentsign with stand and rotate the qrcode to face you.",
+    "Use the left arm to grab the smooth surface paymentsign, rotate, and face the QR code towards you.",
+    "Grab the smooth surface paymentsign using the left arm, lift, and rotate until QR code faces you.",
+    "Lift the blue and white rectangular paymentsign from the surface and adjust its angle towards you",
+    "Use the left arm to grab the paymentsign with glossy blue panel and point its QR code toward you.",
+    "Lift the paymentsign with printed QR codes from the table, turning it QR code forward.",
+    "Catch the paymentsign for scanning QR codes off the table and rotate its qrcode to you.",
+    "Use the left arm to lift the blue and white rectangular paymentsign from the table and face the qrcode.",
+    "Grab the rectangular plastic paymentsign with codes using the left arm, then rotate the QR code to face forward.",
+    "Pick up the blue and white paymentsign and rotate it so the QR code faces you",
+    "Lift the smooth surface paymentsign and orient its QR code toward you with the left arm.",
+    "Catch the tabletop paymentsign, lift it, and rotate it QR code facing.",
+    "Take the paymentsign with printed QR codes, lift it, and orient it so the QR faces you",
+    "Catch the paymentsign with angled black stand with the left arm, then rotate it to make the QR code visible.",
+    "Lift the blue and white rectangular paymentsign from the table and rotate it so the code faces you.",
+    "Use the left arm to grab the smooth surface paymentsign and rotate QR code towards you.",
+    "Grab the paymentsign with printed QR codes, lift it from the table, and rotate it QR front",
+    "Find the rectangular plastic paymentsign with codes, grab it, and turn it towards yourself.",
+    "Catch and lift the paymentsign with glossy blue panel, then turn it to show the QR code.",
+    "Use the left arm to grab the paymentsign for scanning QR codes and rotate it until the QR faces forward",
+    "Catch the blue and white paymentsign, pick it up, and rotate to show the QR code.",
+    "Use the left arm to take the tabletop paymentsign and turn it until the QR code faces you",
+    "Lift the paymentsign with angled black stand and rotate for its qrcode to face you.",
+    "Use the left arm to grab the tabletop paymentsign, lift, and turn it QR code forward",
+    "Take the paymentsign with printed QR codes from the table, rotating it QR code toward you.",
+    "Use the left arm to pick the paymentsign with printed QR codes and turn it towards you.",
+    "Slide the paymentsign with printed QR codes off the table and turn it to face you.",
+    "Pick the paymentsign with glossy blue panel up and turn its QR code toward you using the left arm.",
+    "Lift the blue and white paymentsign from the table and rotate it towards you",
+    "Lift the rectangular plastic paymentsign and rotate until its qrcode faces you.",
+    "Grab the tabletop paymentsign with the left arm, then rotate it to face yourself.",
+    "Employ the left arm to seize the tabletop paymentsign, raise it, and rotate it QR-forward",
+    "Lift the paymentsign with printed QR codes and rotate it until the QR code faces you.",
+    "Grab the tabletop paymentsign, pick it up, and turn its qrcode toward you.",
+    "Locate the blue and white paymentsign, pick it up, and adjust its angle.",
+    "Catch the small glossy paymentsign, lift it, and adjust its QR code to face you.",
+    "Grab the small paymentsign with stand using the left arm, then rotate it until the qrcode faces you.",
+    "Lift the small glossy paymentsign from the table and turn it to face you.",
+    "Using the left arm, catch the paymentsign with angled black stand and rotate it to face the QR code.",
+    "Catch the paymentsign with glossy blue panel, pick it up, and rotate to view the qrcode.",
+    "Take the small paymentsign with stand, raise it, and make the qrcode face you.",
+    "Pick the tabletop paymentsign up, then rotate to make its qrcode visible.",
+    "Lift the rectangular plastic paymentsign with the left arm, then rotate it to make the qrcode visible.",
+    "Use the left arm to lift the smooth surface paymentsign and rotate it QR code toward you.",
+    "Catch the smooth surface paymentsign, lift, and rotate to align the qrcode to you.",
+    "Catch the blue and white paymentsign using the left arm, pick it up, and turn it to face the QR code.",
+    "Catch the rectangular plastic paymentsign with codes, raise it, and turn it so the QR code faces you",
+    "Pick the smooth surface paymentsign up, rotate it, and ensure the QR code faces you.",
+    "Catch the paymentsign with glossy blue panel, lift it, and turn the qrcode towards you.",
+    "Pick up the paymentsign with angled black stand and adjust its position to face the qrcode towards you.",
+    "Use the left arm to grab the paymentsign for scanning QR codes and rotate the qrcode to face you.",
+    "Use the left arm to grab the rectangular plastic paymentsign with codes, rotate, and face the QR code towards you.",
+    "Grab the small glossy paymentsign using the left arm, lift, and rotate until QR code faces you.",
+    "Lift the blue and white rectangular paymentsign from the surface and adjust its angle towards you",
+    "Use the left arm to grab the paymentsign with angled black stand and point its QR code toward you.",
+    "Lift the smooth surface paymentsign from the table, turning it QR code forward.",
+    "Catch the paymentsign with printed QR codes off the table and rotate its qrcode to you.",
+    "Use the left arm to lift the small glossy paymentsign from the table and face the qrcode.",
+    "Grab the paymentsign with printed QR codes using the left arm, then rotate the QR code to face forward.",
+    "Pick up the paymentsign with angled black stand and rotate it so the QR code faces you",
+    "Lift the paymentsign with glossy blue panel and orient its QR code toward you with the left arm.",
+    "Catch the blue and white paymentsign, lift it, and rotate it QR code facing.",
+    "Take the paymentsign with glossy blue panel, lift it, and orient it so the QR faces you",
+    "Catch the paymentsign with glossy blue panel with the left arm, then rotate it to make the QR code visible.",
+    "Lift the paymentsign with glossy blue panel from the table and rotate it so the code faces you.",
+    "Use the left arm to grab the tabletop paymentsign and rotate QR code towards you.",
+    "Grab the tabletop paymentsign, lift it from the table, and rotate it QR front",
+    "Find the paymentsign with glossy blue panel, grab it, and turn it towards yourself.",
+    "Catch and lift the paymentsign with angled black stand, then turn it to show the QR code.",
+    "Use the left arm to grab the paymentsign with printed QR codes and rotate it until the QR faces forward",
+    "Catch the blue and white paymentsign, pick it up, and rotate to show the QR code.",
+    "Use the left arm to take the rectangular plastic paymentsign with codes and turn it until the QR code faces you",
+    "Lift the paymentsign with printed QR codes and rotate for its qrcode to face you.",
+    "Use the left arm to grab the paymentsign for scanning QR codes, lift, and turn it QR code forward",
+    "Take the paymentsign with printed QR codes from the table, rotating it QR code toward you.",
+    "Use the left arm to pick the smooth surface paymentsign and turn it towards you.",
+    "Slide the small glossy paymentsign off the table and turn it to face you.",
+    "Pick the paymentsign with printed QR codes up and turn its QR code toward you using the left arm.",
+    "Lift the small paymentsign with stand from the table and rotate it towards you",
+    "Lift the rectangular plastic paymentsign and rotate until its qrcode faces you.",
+    "Grab the rectangular plastic paymentsign with codes with the left arm, then rotate it to face yourself.",
+    "Employ the left arm to seize the smooth surface paymentsign, raise it, and rotate it QR-forward",
+    "Lift the small paymentsign with stand and rotate it until the QR code faces you.",
+    "Grab the blue and white paymentsign, pick it up, and turn its qrcode toward you.",
+    "Locate the tabletop paymentsign, pick it up, and adjust its angle.",
+    "Catch the rectangular plastic paymentsign, lift it, and adjust its QR code to face you.",
+    "Grab the small glossy paymentsign using the left arm, then rotate it until the qrcode faces you.",
+    "Lift the blue and white rectangular paymentsign from the table and turn it to face you.",
+    "Using the left arm, catch the rectangular plastic paymentsign and rotate it to face the QR code.",
+    "Catch the paymentsign for scanning QR codes, pick it up, and rotate to view the qrcode.",
+    "Take the paymentsign with printed QR codes, raise it, and make the qrcode face you.",
+    "Pick the paymentsign with angled black stand up, then rotate to make its qrcode visible.",
+    "Lift the blue and white rectangular paymentsign with the left arm, then rotate it to make the qrcode visible.",
+    "Use the left arm to lift the paymentsign with angled black stand and rotate it QR code toward you.",
+    "Catch the smooth surface paymentsign, lift, and rotate to align the qrcode to you.",
+    "Catch the small glossy paymentsign using the left arm, pick it up, and turn it to face the QR code.",
+    "Catch the paymentsign with printed QR codes, raise it, and turn it so the QR code faces you",
+    "Pick the small paymentsign with stand up, rotate it, and ensure the QR code faces you."
+  ]
+}
diff --git a/stamp_seal/episode_0000004/TCP_head/metadata.json b/stamp_seal/episode_0000004/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb31adcbf495c4cec72f8a2acf627e421eded042
--- /dev/null
+++ b/stamp_seal/episode_0000004/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    161,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/stamp_seal/episode_0000004/TCP_third/metadata.json b/stamp_seal/episode_0000004/TCP_third/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..754406a379ec4670e928b773aa2fdbd005c33256
--- /dev/null
+++ b/stamp_seal/episode_0000004/TCP_third/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    161,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "third_views OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "third_views",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/third_views.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/stamp_seal/episode_0000004/metadata.json b/stamp_seal/episode_0000004/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..246d327815435c04f8a0f577c103cc81c766c7da
--- /dev/null
+++ b/stamp_seal/episode_0000004/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "stamp_seal",
+  "episode": "episode_0000004",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stamp_seal/aloha_agilex/data/episode_0000004.hdf5",
+  "num_frames": 161,
+  "image_height": 240,
+  "image_width": 320,
+  "views": {
+    "left_view": "cam_left_wrist",
+    "right_view": "cam_right_wrist",
+    "head_view": "cam_head",
+    "third_views": "cam_third_view"
+  },
+  "rgb": {
+    "format": "PNG",
+    "dtype": "uint8",
+    "channel_order": "RGB"
+  },
+  "depth": {
+    "format": "PNG",
+    "dtype": "uint16",
+    "unit": "millimeter",
+    "invalid_value": 0
+  },
+  "intrinsics": {
+    "shape": [
+      3,
+      3
+    ],
+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
+  "extrinsics": {
+    "shape": [
+      161,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      161,
+      14
+    ],
+    "action_shape": [
+      161,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Stamp the engraved top seal on Yellow",
+    "Place the engraved top seal onto Yellow",
+    "the right arm holds the smooth rectangular seal, presses Yellow",
+    "With the right arm, secure the seal for stamping and mark Yellow.",
+    "Press the brown rectangular seal with slanted edges firmly onto Yellow",
+    "Use the right arm for the brown seal and stamp Yellow",
+    "the right arm uses the smooth rectangular seal to stamp Yellow",
+    "Position the seal with textured top over Yellow and stamp",
+    "Grab the rectangular seal with the right arm, press it onto Yellow.",
+    "Place the seal with textured top onto Yellow after grabbing.",
+    "Press the seal for stamping onto Yellow",
+    "Hold the brown seal and press onto Yellow",
+    "Pick up the compact stone seal and press onto Yellow",
+    "Use the right arm to press the rectangular seal on Yellow",
+    "the right arm picks the rectangular seal, stamps Yellow",
+    "Use the right arm to lift the brown seal, then stamp Yellow.",
+    "Use the seal with smooth engraved top to stamp Yellow",
+    "Pick up the seal with sloped sides, stamp Yellow",
+    "the right arm grabs the brown seal, stamps Yellow",
+    "Pick the hand-sized rectangular brown seal and press on Yellow",
+    "Press the brown seal onto Yellow with the right arm",
+    "With the right arm, take the hand-sized rectangular brown seal and mark Yellow.",
+    "Pick the engraved top seal and apply it onto Yellow.",
+    "Grab the brown rectangular seal with slanted edges and press onto Yellow",
+    "Use the right arm to grab the seal with textured top, press Yellow",
+    "Lift the smooth rectangular seal and press onto Yellow",
+    "Stamp Yellow after grabbing the seal for stamping.",
+    "Grab the brown rectangular seal with slanted edges and press on Yellow.",
+    "Hold the seal with textured top with the right arm and stamp Yellow",
+    "Position the compact stone seal on Yellow, apply pressure",
+    "Take the seal with sloped sides and stamp it on Yellow.",
+    "Stamp Yellow after grabbing the brown seal",
+    "Grab the seal with smooth engraved top and press onto Yellow",
+    "Grab the rectangular stone seal with engraved top to press onto Yellow",
+    "Pick the smooth rectangular seal and stamp it on Yellow",
+    "Grab the brown rectangular seal with slanted edges, align it with Yellow",
+    "Use the right arm to pick the compact stone seal for Yellow",
+    "Take the seal for stamping and stamp Yellow",
+    "Use the right arm, take the engraved top seal, and apply to Yellow.",
+    "Bring the hand-sized rectangular brown seal to Yellow and stamp",
+    "Pick the brown rectangular seal with slanted edges and press down on Yellow",
+    "Use the compact stone seal to mark Yellow",
+    "Set the compact stone seal on Yellow",
+    "Stamp the seal with sloped sides on Yellow",
+    "Place the seal with sloped sides onto Yellow",
+    "the right arm holds the brown rectangular seal with slanted edges, presses Yellow",
+    "With the right arm, secure the brown seal and mark Yellow.",
+    "Press the smooth rectangular seal firmly onto Yellow",
+    "Use the right arm for the hand-sized rectangular brown seal and stamp Yellow",
+    "the right arm uses the brown seal to stamp Yellow",
+    "Position the rectangular stone seal with engraved top over Yellow and stamp",
+    "Grab the smooth rectangular seal with the right arm, press it onto Yellow.",
+    "Place the rectangular stone seal with engraved top onto Yellow after grabbing.",
+    "Press the seal with textured top onto Yellow",
+    "Hold the engraved top seal and press onto Yellow",
+    "Pick up the brown seal and press onto Yellow",
+    "Use the right arm to press the engraved top seal on Yellow",
+    "the right arm picks the rectangular stone seal with engraved top, stamps Yellow",
+    "Use the right arm to lift the hand-sized rectangular brown seal, then stamp Yellow.",
+    "Use the seal for stamping to stamp Yellow",
+    "Pick up the rectangular seal, stamp Yellow",
+    "the right arm grabs the hand-sized rectangular brown seal, stamps Yellow",
+    "Pick the seal with smooth engraved top and press on Yellow",
+    "Press the brown seal onto Yellow with the right arm",
+    "With the right arm, take the seal for stamping and mark Yellow.",
+    "Pick the compact stone seal and apply it onto Yellow.",
+    "Grab the seal with sloped sides and press onto Yellow",
+    "Use the right arm to grab the seal for stamping, press Yellow",
+    "Lift the seal for stamping and press onto Yellow",
+    "Stamp Yellow after grabbing the brown seal.",
+    "Grab the hand-sized rectangular brown seal and press on Yellow.",
+    "Hold the brown rectangular seal with slanted edges with the right arm and stamp Yellow",
+    "Position the seal with smooth engraved top on Yellow, apply pressure",
+    "Take the seal with smooth engraved top and stamp it on Yellow.",
+    "Stamp Yellow after grabbing the rectangular seal",
+    "Grab the compact stone seal and press onto Yellow",
+    "Grab the seal with sloped sides to press onto Yellow",
+    "Pick the brown seal and stamp it on Yellow",
+    "Grab the smooth rectangular seal, align it with Yellow",
+    "Use the right arm to pick the seal with textured top for Yellow",
+    "Take the seal with smooth engraved top and stamp Yellow",
+    "Use the right arm, take the seal for stamping, and apply to Yellow.",
+    "Bring the seal with textured top to Yellow and stamp",
+    "Pick the brown seal and press down on Yellow",
+    "Use the engraved top seal to mark Yellow",
+    "Set the seal with textured top on Yellow",
+    "Stamp the rectangular seal on Yellow",
+    "Place the brown seal onto Yellow",
+    "the right arm holds the seal with sloped sides, presses Yellow",
+    "With the right arm, secure the seal with textured top and mark Yellow.",
+    "Press the seal with smooth engraved top firmly onto Yellow",
+    "Use the right arm for the seal with sloped sides and stamp Yellow",
+    "the right arm uses the hand-sized rectangular brown seal to stamp Yellow",
+    "Position the brown seal over Yellow and stamp",
+    "Grab the compact stone seal with the right arm, press it onto Yellow.",
+    "Place the seal with textured top onto Yellow after grabbing.",
+    "Press the brown seal onto Yellow",
+    "Hold the engraved top seal and press onto Yellow",
+    "Pick up the brown seal and press onto Yellow",
+    "Use the right arm to press the brown seal on Yellow"
+  ]
+}
diff --git a/stamp_seal/episode_0000017/TCP_head/metadata.json b/stamp_seal/episode_0000017/TCP_head/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..af3b53674df0fe0aeed18d12354eac2e16a04467
--- /dev/null
+++ b/stamp_seal/episode_0000017/TCP_head/metadata.json
@@ -0,0 +1,30 @@
+{
+  "format": "robotwin_tcp_v1",
+  "shape": [
+    156,
+    7
+  ],
+  "columns": [
+    "x",
+    "y",
+    "z",
+    "roll",
+    "pitch",
+    "yaw",
+    "gripper_open"
+  ],
+  "position_unit": "meter",
+  "rotation_unit": "radian",
+  "rpy_convention": "fixed-axis XYZ (R = Rz(yaw) @ Ry(pitch) @ Rx(roll))",
+  "coordinate_frame": "head_view OpenCV camera (+x right, +y down, +z forward)",
+  "camera": "head_view",
+  "extrinsics": "world_to_camera, read per frame from extrinsics/head_view.npy",
+  "gripper": {
+    "type": "binary",
+    "open": 1,
+    "closed": 0,
+    "source_threshold": 0.5
+  },
+  "tcp_definition": "midpoint of the two inner fingertip contact faces",
+  "source": "robot_state.npy"
+}
diff --git a/stamp_seal/episode_0000017/metadata.json b/stamp_seal/episode_0000017/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2bf15e388525f700cc89db714c4bcb0a3b363d7
--- /dev/null
+++ b/stamp_seal/episode_0000017/metadata.json
@@ -0,0 +1,180 @@
+{
+  "format_version": "robotwin_4d_v1",
+  "task": "stamp_seal",
+  "episode": "episode_0000017",
+  "embodiment": "aloha_agilex",
+  "source_file": "/home/shengyu/Documents/PENG/github/RoboTwin/data/3d_aloha_dataset/stamp_seal/aloha_agilex/data/episode_0000017.hdf5",
+  "num_frames": 156,
+  "image_height": 240,
+  "image_width": 320,
+  "views": {
+    "left_view": "cam_left_wrist",
+    "right_view": "cam_right_wrist",
+    "head_view": "cam_head",
+    "third_views": "cam_third_view"
+  },
+  "rgb": {
+    "format": "PNG",
+    "dtype": "uint8",
+    "channel_order": "RGB"
+  },
+  "depth": {
+    "format": "PNG",
+    "dtype": "uint16",
+    "unit": "millimeter",
+    "invalid_value": 0
+  },
+  "intrinsics": {
+    "shape": [
+      3,
+      3
+    ],
+    "convention": "OpenCV pinhole pixel coordinates",
+    "per_view_constant": true
+  },
+  "extrinsics": {
+    "shape": [
+      156,
+      3,
+      4
+    ],
+    "transform": "world_to_camera",
+    "camera_coordinates": "OpenCV: +x right, +y down, +z forward"
+  },
+  "robot": {
+    "state_shape": [
+      156,
+      14
+    ],
+    "action_shape": [
+      156,
+      14
+    ],
+    "dtype": "float32",
+    "columns": [
+      {
+        "name": "left_arm_joint_states",
+        "start": 0,
+        "end": 6
+      },
+      {
+        "name": "left_ee_joint_states",
+        "start": 6,
+        "end": 7
+      },
+      {
+        "name": "right_arm_joint_states",
+        "start": 7,
+        "end": 13
+      },
+      {
+        "name": "right_ee_joint_states",
+        "start": 13,
+        "end": 14
+      }
+    ]
+  },
+  "frequency_hz": 15,
+  "instructions": [
+    "Use the small seal with round base to stamp Cyan",
+    "Take the seal with vertical textured grip and stamp Cyan",
+    "Set the round yellow seal base on Cyan",
+    "Position the small seal with round base over Cyan and stamp",
+    "Lift the seal with vertical textured grip and press onto Cyan",
+    "the right arm grabs the seal with vertical textured grip, stamps Cyan",
+    "Hold the seal with vertical textured grip and press onto Cyan",
+    "Stamp the yellow seal on Cyan",
+    "Stamp Cyan after grabbing the seal with smooth yellow bottom.",
+    "Pick the seal with wooden-like grip and stamp it on Cyan",
+    "the right arm uses the seal with smooth yellow bottom to stamp Cyan",
+    "Use the right arm to pick the round yellow seal base for Cyan",
+    "With the right arm, secure the round yellow seal base and mark Cyan.",
+    "Use the right arm to lift the light beige ridged handle seal, then stamp Cyan.",
+    "Pick up the yellow seal and press onto Cyan",
+    "Use the right arm, take the seal with smooth yellow bottom, and apply to Cyan.",
+    "Pick the seal with vertical textured grip and apply it onto Cyan.",
+    "Grab the handheld seal with yellow bottom with the right arm, press it onto Cyan.",
+    "Press the yellow seal with ridged grip onto Cyan with the right arm",
+    "Use the right arm to press the round yellow seal base on Cyan",
+    "Use the yellow stamping tool to mark Cyan",
+    "Bring the round yellow seal base to Cyan and stamp",
+    "Take the seal with wooden-like grip and stamp it on Cyan.",
+    "Hold the light beige ridged handle seal with the right arm and stamp Cyan",
+    "the right arm holds the seal with smooth yellow bottom, presses Cyan",
+    "Press the round yellow seal base onto Cyan",
+    "Press the seal with wooden-like grip firmly onto Cyan",
+    "Stamp Cyan after grabbing the seal for marking",
+    "Use the right arm to grab the round yellow seal base, press Cyan",
+    "Pick the small seal with round base and press down on Cyan",
+    "Pick up the yellow seal, stamp Cyan",
+    "Place the seal for marking onto Cyan after grabbing.",
+    "Place the yellow seal with ridged grip onto Cyan",
+    "Grab the small seal with round base and press on Cyan.",
+    "Pick the yellow seal with ridged grip and press on Cyan",
+    "Grab the seal with vertical textured grip to press onto Cyan",
+    "the right arm picks the round yellow seal base, stamps Cyan",
+    "Use the right arm for the compact stamping seal and stamp Cyan",
+    "Position the yellow seal on Cyan, apply pressure",
+    "Grab the handheld seal with yellow bottom and press onto Cyan",
+    "Grab the seal with vertical textured grip and press onto Cyan",
+    "Grab the seal with smooth yellow bottom, align it with Cyan",
+    "With the right arm, take the seal for marking and mark Cyan.",
+    "Use the yellow stamping tool to stamp Cyan",
+    "Take the light beige ridged handle seal and stamp Cyan",
+    "Set the seal for marking on Cyan",
+    "Position the small seal with round base over Cyan and stamp",
+    "Lift the seal with smooth yellow bottom and press onto Cyan",
+    "the right arm grabs the light beige ridged handle seal, stamps Cyan",
+    "Hold the round yellow seal base and press onto Cyan",
+    "Stamp the seal with vertical textured grip on Cyan",
+    "Stamp Cyan after grabbing the seal with smooth yellow bottom.",
+    "Pick the seal with vertical textured grip and stamp it on Cyan",
+    "the right arm uses the light beige ridged handle seal to stamp Cyan",
+    "Use the right arm to pick the yellow seal for Cyan",
+    "With the right arm, secure the small seal with round base and mark Cyan.",
+    "Use the right arm to lift the yellow seal, then stamp Cyan.",
+    "Pick up the yellow seal and press onto Cyan",
+    "Use the right arm, take the seal with smooth yellow bottom, and apply to Cyan.",
+    "Pick the yellow stamping tool and apply it onto Cyan.",
+    "Grab the seal with vertical textured grip with the right arm, press it onto Cyan.",
+    "Press the seal with wooden-like grip onto Cyan with the right arm",
+    "Use the right arm to press the seal with wooden-like grip on Cyan",
+    "Use the round yellow seal base to mark Cyan",
+    "Bring the round yellow seal base to Cyan and stamp",
+    "Take the round yellow seal base and stamp it on Cyan.",
+    "Hold the compact stamping seal with the right arm and stamp Cyan",
+    "the right arm holds the seal with smooth yellow bottom, presses Cyan",
+    "Press the yellow stamping tool onto Cyan",
+    "Press the seal for marking firmly onto Cyan",
+    "Stamp Cyan after grabbing the light beige ridged handle seal",
+    "Use the right arm to grab the round yellow seal base, press Cyan",
+    "Pick the seal with wooden-like grip and press down on Cyan",
+    "Pick up the seal with vertical textured grip, stamp Cyan",
+    "Place the yellow seal onto Cyan after grabbing.",
+    "Place the seal with vertical textured grip onto Cyan",
+    "Grab the small seal with round base and press on Cyan.",
+    "Pick the handheld seal with yellow bottom and press on Cyan",
+    "Grab the light beige ridged handle seal to press onto Cyan",
+    "the right arm picks the yellow seal, stamps Cyan",
+    "Use the right arm for the small seal with round base and stamp Cyan",
+    "Position the yellow seal with ridged grip on Cyan, apply pressure",
+    "Grab the round yellow seal base and press onto Cyan",
+    "Grab the yellow seal with ridged grip and press onto Cyan",
+    "Grab the yellow seal with ridged grip, align it with Cyan",
+    "With the right arm, take the seal with wooden-like grip and mark Cyan.",
+    "Use the yellow stamping tool to stamp Cyan",
+    "Take the handheld seal with yellow bottom and stamp Cyan",
+    "Set the compact stamping seal on Cyan",
+    "Position the seal for marking over Cyan and stamp",
+    "Lift the round yellow seal base and press onto Cyan",
+    "the right arm grabs the small seal with round base, stamps Cyan",
+    "Hold the seal for marking and press onto Cyan",
+    "Stamp the handheld seal with yellow bottom on Cyan",
+    "Stamp Cyan after grabbing the seal with smooth yellow bottom.",
+    "Pick the handheld seal with yellow bottom and stamp it on Cyan",
+    "the right arm uses the seal with wooden-like grip to stamp Cyan",
+    "Use the right arm to pick the seal with vertical textured grip for Cyan",
+    "With the right arm, secure the seal with wooden-like grip and mark Cyan.",
+    "Use the right arm to lift the seal with vertical textured grip, then stamp Cyan."
+  ]
+}